Tactile feedback device providing tactile sensations from host commands

ABSTRACT

A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of parent U.S. patent applicationSer. No. 09/050,665, filed Mar. 30, 1998, which is a continuation ofU.S. patent application Ser. No. 08/566,282, filed Dec. 1, 1995, nowU.S. Pat. No. 5,734,373, which is a continuation-in-part of U.S patentapplications Ser. No. 08/534,791, filed Sep. 27, 1995, now U.S. Pat. No.5,739,811, and A CIP of Ser. No. 08/461,170, filed Jun. 5, 1995, nowU.S. Pat. No. 5,576,727, which is a continuation of application Ser. No.08/092,974, filed Jul. 16, 1993, now abandoned, all of which areincorporated herein by reference in their entirety.

BACKGROUND OF THE INVENTION

The present invention relates generally to interface devices betweenhumans and computers, and more particularly to computer interfacedevices that provide force feedback to the user.

Computer systems are used extensively in many different industries toimplement computer controlled simulations, games, and other applicationprograms. More particularly, these types of games and simulations arevery popular with the mass market of home consumers. A computer systemtypically displays a visual environment to a user on a display screen orother visual output device. Users can interact with the displayedenvironment to play a game, experience a simulation or “virtual reality”environment, or otherwise influence events or images depicted on thescreen. Such user interaction can be implemented through the use of ahuman-computer interface device, such as a joystick, “joypad” buttoncontroller, mouse, trackball, stylus and tablet, or the like, that isconnected to the computer system controlling the displayed environment.The computer updates the simulation or game in response to the user'smanipulation of an object such as a joystick handle or mouse, andprovides feedback to the user utilizing the display screen and,typically, audio speakers.

In some interface devices, tactile (“haptic”) feedback is also providedto the user, more generally known as “force feedback.” These types ofinterface devices can provide physical sensations to the usermanipulating the object of the interface device. Typically, motors orother actuators are coupled to the object and are connected to thecontrolling computer system. The computer system can provide forces onthe object in conjunction with simulation/game events by sending controlsignals to the actuators. The computer system can thus convey physicalsensations to the user in conjunction with other supplied feedback asthe user is grasping or contacting the object of the interface device.Force feedback interface devices can thus provide a whole new modalityfor human-computer interaction.

Force feedback input/output (I/O) devices of the prior art haveconcentrated on providing maximum haptic fidelity, i.e., the realism ofthe tactile feedback was desired to be optimized. This is because mostof the force feedback devices have been targeted at the specific needsof highly industrial applications, and not a mass consumer market. Toattain such realism, mass market design concerns such as low size andweight, low complexity, programming compatibility, low cost, and safetyhave been sacrificed in the prior art. As a result, typical forcefeedback interface devices include complex robotic mechanisms whichrequire precision components and expensive actuators.

An important concern for a force feedback interface device iscommunication bandwidth between the controlling computer and theinterface device. To provide realistic force feedback, the complexdevices of the prior art typically use high speed communicationelectronics that allow the controlling computer to quickly update forcefeedback signals to the interface device. The more quickly thecontrolling computer can send and receive signals to and from theinterface device, the more accurately and realistically the desiredforces can be applied on the interface object. In addition, using a highbandwidth communication interface, force feedback can be accuratelycoordinated with other supplied feedback, such as images on the videoscreen, and with user inputs such as movement of the object, activatedbuttons, etc. For example, a user can grasp and move a force feedbackjoystick in a simulation to control an image of a car to drive over avirtual bumpy surface displayed on a screen. The controlling computershould provide control signals to the actuators of the joystick quicklyenough so that the surface feels as realistically bumpy as the designerof the simulation intended. If the control signals are too slow, arealistic feeling of bumpiness is more difficult to provide. Also, thecontrolling computer needs a high bandwidth communication interface toaccurately coordinate the supplied forces with the visual feedback onthe screen, such as the moment on the screen when the car first contactsthe bumpy surface. This high speed is likewise needed to accuratelycoordinate supplied forces with any input from the user, for example, tosteer the car in particular directions.

A problem is evident when prior art force feedback interface devices areprovided to the mass consumer market. Most home computers have abuilt-in standard serial communication interfaces, such as an RS-232 orRS422 interface, that may conveniently be used to connect peripheralslike a force feedback interface device to the host computer. Inaddition, manufacturers prefer to provide peripheral devices that usethese serial interfaces, since no additional hardware, such as interfacecards, needs to be provided with such peripherals. The manufacturingcost of the peripheral device can thus be significantly reduced.However, these standard serial communication interfaces are typicallyquite slow (i.e. have low bandwidth) compared to other communicatoninterfaces. Realistic and accurate force feedback thus becomes difficultto provide by a controlling computer system to a prior art interfacedevice connected through such a serial interface. For example, U.S. Pat.No. 5,184,319, by J. Kramer, describes a force feedback device thatapplies forces to a user's body parts. However, the Kramer device istypical of the prior art in that the host computer directly controls theactuators and directly receives the sensor data from the interfaceapparatus. Such a device is not suitable for a low bandwidthcommunication interface to achieve realistic force feedback.

Another problem with using prior art force feedback interface devices inthe mass consumer market is the wide variety of computer platforms andprocessing speeds that are used on different computers and on the samecomputer at different times. The force sensations provided to a user bya force feedback interface device may feel different to a user ondifferent computer platforms or microprocessors, since these differentcomputers run at different speeds. For example, the force feedbackcontrolled by a 100 MHz computer may be much different from the forcefeedback controlled by a 60 MHz computer due to the different rates ofprocessing control signals, even though these forces are intended tofeel the same. In addition, the effective processing speed of onemicroprocessor can vary over time to provide inconsistent forces overmultiple user sessions. For example, multitasking can vary or delay amicroprocessor's management of force feedback control signals dependingon other programs that are running on the microprocessor.

In addition, there is no standardized language or communication protocolfor communicating with force feedback devices. A software developer thatwishes to provide force feedback to an interface in a softwareapplication must currently set up his or her own specialized commandsand/or communications protocols and must implement the force feedbackcontrolling instructions at a low level. This requires unnecessary timeand expense in the development of software applications that includefeatures directed toward force feedback interfaces.

Therefore, a more realistic, cost effective, and standardizedalternative to force feedback interfaces and force feedback controlparadigms is desired for certain applications.

SUMMARY OF THE INVENTION

The present invention is directed to controlling and providing forcefeedback to a user operating a human/computer interface device. Theinterface device is connected to a controlling host computer andincludes a separate microprocessor local to the interface device. Thelocal microprocessor receives high-level host commands and implementsindependent reflex processes.

More particularly, a system and method of the present invention forcontrolling an interface apparatus manipulated by a user includes a hostcomputer system for receiving an input control signal and for providinga host command. The host computer updates a host application process,such as a simulation or video game, in response to the input controlsignal. A microprocessor local to the interface apparatus and separatefrom the host computer receives the host command and provides aprocessor output control signal. An actuator receives the processoroutput control signal and provides a force along a degree of freedom toa user-manipulated object, such as a joystick, in accordance with theprocessor output control signal. A sensor detects motion of the userobject along the degree of freedom and outputs the input control signalincluding information representative of the position and motion of theobject. Preferably, the sensor outputs the input control signal to thelocal microprocessor, which outputs the input control signal to the hostcomputer. The user object is preferably grasped and moved by the user,and can include such articles as a joystick, mouse, simulated medicalinstrument, stylus, or other object. The user object can preferably bemoved in one or more degrees of freedom using, for example, a gimbal orslotted yoke mechanism, where an actuator and sensor can be provided foreach degree of freedom.

The application process updated by the host computer system preferablyincludes application software that can be simulation software, gamesoftware, scientific software, etc. The host computer system displaysimages on a visual output device such as a display screen andsynchronizes the images and visual events with the position and motionof the user object as well as forces applied to the object. The presentinvention can use a standard serial interface included on many computersto interface the host computer system with the local microprocessor. Aclock is preferably coupled to the host computer system and/or the localprocessor which can be accessed for timing data to help determine theforce output by the actuator.

In the preferred “reflex” embodiment, the host computer receives thesensor information in a supervisory mode and outputs a high level hostcommand to the microprocessor whenever a force is required to be appliedto the user object or changed. In accordance with the high level hostcommand, the microprocessor reads sensor and timing data and outputsforce values to the actuator according to a reflex process that isselected. The reflex process can include using force equations, readingforce profiles of predetermined force values from a storage device, orother steps, and may be dependent on sensor data, timing data, hostcommand data, or other data. The processor thus implements a reflex tocontrol forces independently of the host computer until the hostcomputer changes the type of force applied to the user object.

The invention also provides a paradigm for force commands between thehost computer and the local microprocessor. The high level host commandsprovided by the host computer can be rate control and/or positioncontrol commands, and may include information in the form of commandparameters. By providing a relatively small set of commands and commandparameters which are translated into a panoply of forces, the paradigmfurther shifts the computational burden from the host computer to thelocal microprocessor. Host commands may include commands to provideforces on the user object such as restoring forces, vibration forces,texture forces, a barrier forces, attractive/repulsive force fields,damping forces, groove forces, and a paddle-ball force. Typical commandparameters include a magnitude parameter, a duration parameter, adirection parameter, a style parameter, and a button parameter tocontrol the force output by the actuator. This provides a high level,standard force feedback command protocol for the efficient use bydevelopers of force feedback software to be implemented on the hostcomputer system.

A preferred implementation of the functionality of the localmicroprocessor is also provided. A command process receives a hostcommand from the host computer and processes the host command and anycommand parameters included in the host command. Force parameters arederived from the host command and the command parameter and are storedin memory. Preferably, every host command has a set of force parametersassociated with it to be updated when the appropriate host command isreceived. A status update process reads sensor data from the sensorsdescribing a motion of the user object. The status update process canalso compute velocity, acceleration, or other time-related values ifappropriate. A force output process computes a force value using areflex process selected in accordance with the force parameters and thesensor data. In some instances, the force value may depend on the valuesof the force parameters and sensor data. The force output processoutputs a force on the user object by sending the computed force valueto the actuators. In addition, a reporting process reports the sensordata to the host computer system when appropriate. Preferably, aplurality of host commands can be in effect simultaneously, where aforce value is summed from a reflex process corresponding to each suchhost command in effect. Also, parameter page(s) of sets of parameterscan conveniently be stored in memory to allow different forceenvironments to be selected.

The control system and method of the present invention advantageouslyincludes a separate processor local to the interface device that isseparate from the host computer system. The local processor can read andprocess sensor signals as well as output force command signalsindependently of the host computer, thus saving significant processingtime on the host computer. In addition, the use of the local processorto handle low-level force feedback commands allows more realistic andaccurate force feedback to be provided to an object manipulated by auser when using a serial or other relatively low-bandwidth communicationinterface between the host and the interface device, since such lowlevel force signals do not have to be transmitted over the communicationinterface. The use of specific, high level host commands to command avariety of types of forces allows force feedback host applications to beeasily created. These improvements allow a computer system to provideaccurate and realistic force feedback over a low-cost, low bandwidthcommunication interface and is thus ideal for the mass market of homecomputer systems.

These and other advantages of the present invention will become apparentto those skilled in the art upon a reading of the followingspecification of the invention and a study of the several figures of thedrawing.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a control system in accordance with thepresent invention for controlling a force feedback interface device froma host computer;

FIG. 2 is a schematic diagram of an actuator interface for providingcontrol signals to an active actuator for the present invention;

FIG. 3 is a schematic diagram of an actuator interface for providingcontrol signals to a passive actuator for the present invention;

FIG. 4 is a flow diagram illustrating a first embodiment of a method ofthe present invention for controlling a force feedback interface device;

FIG. 5 is a flow diagram illustrating a second embodiment of a method ofthe present invention for controlling a force feedback interface device;

FIG. 6 is a schematic diagram of a closed loop five bar linkagemechanism for providing two degrees of freedom to the user object of theinterface device;

FIG. 7 is a perspective view of a preferred embodiment of the linkagemechanism shown in FIG. 6;

FIG. 8 is a perspective view of a slotted yoke joystick embodiment of amechanical interface for the user object;

FIG. 9 is a table summarizing rate control commands of the presentinvention;

FIGS. 10a-c are diagrammatic representations of restoring forceprofiles;

FIGS. 11a-c are diagrammatic representations of restoring spring forceprofiles;

FIG. 12 is a diagrammatic representation of a vector force;

FIGS. 13a-b are diagrammatic representations of vibration forceprofiles;

FIG. 14 is a table summarizing position control commands of the presentinvention;

FIG. 15 is a diagrammatic representation of a groove force profile;

FIG. 16 is a diagrammatic representation of a barrier force profile;

FIGS. 17a—17 i are diagrammatic illustrations of a paddle and ballinteraction controlled by a paddle command of the present invention;

FIG. 18 is a block diagram illustrating an implementation of the localmicroprocessor of the present invention for controlling a force feedbackinterface device with host commands containing force parameters;

FIG. 19 is a flow diagram illustrating a host communication backgroundprocess of FIG. 18;

FIG. 20 is a flow diagram illustrating a command process of FIG. 18;

FIG. 21 is a flow diagram illustrating a reporting process of FIG. 18;

FIG. 22 is a flow diagram illustrating force algorithm computation andactuator control process of FIG. 18; and

FIG. 23 is a diagrammatic representation of force parameters and asequence of force commands as used in the present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 is a block diagram illustrating a generic control system 10 ofthe present invention for an interface device controlled by a hostcomputer system. Control system 10 includes a host computer system 12and an interface device 14.

Host computer system 12 is preferably a personal computer, such as anIBM-compatible or Macintosh personal computer, or a workstation, such asa SUN or Silicon Graphics workstation. For example, the host computersystem can a personal computer which operates under the MS-DOS orWindows operating systems in conformance with an IBM PC AT standard.Alternatively, host computer system 12 can be one of a variety of homevideo game systems commonly connected to a television set, such assystems available from Nintendo, Sega, or Sony. In other embodiments,home computer system 12 can be a “set top box” which can be used, forexample, to provide interactive television functions to users.

In the described embodiment, host computer system 12 implements a hostapplication program with which a user 22 is interacting via peripheralsand interface device 14. For example, the host application program canbe a video game, medical simulation, scientific analysis program, oreven an operating system or other application program that utilizesforce feedback. Typically, the host application provides images to bedisplayed on a display output device, as described below, and/or otherfeedback, such as auditory signals.

Host computer system 12 preferably includes a host microprocessor 16,random access memory (RAM) 17, read-only memory (ROM) 19, input/output(I/O) electronics 21, a clock 18, a display screen 20, and an audiooutput device 21. Host microprocessor 16 can include a variety ofavailable microprocessors from Intel, Motorola, or other manufacturers.Microprocessor 16 can be single microprocessor chip, or can includemultiple primary and/or co-processors. Microprocessor preferablyretrieves and stores instructions and other necessary data from RAM 17and ROM 19, as is well known to those skilled in the art. In thedescribed embodiment, host computer system 12 can receive sensor data ora sensor signal via a bus 24 from sensors of interface device 14 andother information. Microprocessor 16 can receive data from bus 24 usingI/O electronics 21, and can use I/O electronics to control otherperipheral devices. Host computer system 12 can also output a “forcecommand” to interface device 14 via bus 24 to cause force feedback forthe interface device.

Clock 18 is a standard clock crystal or equivalent component used byhost computer system 12 to provide timing to electrical signals used bymicroprocessor 16 and other components of the computer system. Clock 18is accessed by host computer system 12 in the control process of thepresent invention, as described subsequently.

Display screen 20 is coupled to host microprocessor 16 by suitabledisplay drivers and can be used to display images generated by hostcomputer system 12 or other computer systems. Display screen 20 can be astandard display screen or CRT, 3-D goggles, or any other visualinterface. In a described embodiment, display screen 20 displays imagesof a simulation or game environment. In other embodiments, other imagescan be displayed. For example, images describing a point of view from afirst-person perspective can be displayed, as in a virtual realitysimulation or game. Or, images describing a third-person perspective ofobjects, backgrounds, etc. can be displayed. A user 22 of the hostcomputer 12 and interface device 14 can receive visual feedback byviewing display screen 20.

Herein, computer 12 may be referred as displaying computer “objects” or“entities”. These computer objects are not physical objects, but is alogical software unit collections of data and/or procedures that may bedisplayed as images by computer 12 on display screen 20, as is wellknown to those skilled in the art. For example, a cursor or athird-person view of a car might be considered player-controlledcomputer objects that can be moved across the screen. A displayed,simulated cockpit of an aircraft might also be considered an “object”,or the simulated aircraft can be considered a computer controlled“entity”.

Audio output device 21, such as speakers, is preferably coupled to hostmicroprocessor 16 via amplifiers, filters, and other circuitry wellknown to those skilled in the art. Host processor 16 outputs signals tospeakers 21 to provide sound output to user 22 when an “audio event”occurs during the implementation of the host application program. Othertypes of peripherals can also be coupled to host processor 16, such asstorage devices (hard disk drive, CD ROM drive, floppy disk drive,etc.), printers, and other input and output devices.

An interface device 14 is coupled to host computer system 12 by abi-directional bus 24. The bi-directional bus sends signals in eitherdirection between host computer system 12 and the interface device.Herein, the term “bus” is intended to generically refer to an interfacesuch as between host computer 12 and microprocessor 26 which typicallyincludes one or more connecting wires or other connections and that canbe implemented in a variety of ways, as described below. In thepreferred embodiment, bus 24 is a serial interface bus providing dataaccording to a serial communication protocol. An interface port of hostcomputer system 12, such as an RS232 serial interface port, connects bus24 to host computer system 12. Other standard serial communicationprotocols can also be used in the serial interface and bus 24, such asRS-422, Universal Serial Bus (USB), MIDI, or other protocols well knownto those skilled in the art.

For example, the USB standard provides a relatively high speed serialinterface that can provide force feedback signals in the presentinvention with a high degree of realism. USB can also source more powerto drive peripheral devices. Since each device that accesses the USB isassigned a unique USB address by the host computer, this allows multipledevices to share the same bus. In addition, the USB standard includestiming data that is encoded along with differential data. The USB hasseveral useful features for the present invention, as describedthroughout this specification.

An advantage of the present invention is that low-bandwidth serialcommunication signals can be used to interface with interface device 14,thus allowing a standard built-in serial interface of many computers tobe used directly. Alternatively, a parallel port of host computer system12 can be coupled to a parallel bus 24 and communicate with interfacedevice using a parallel protocol, such as SCSI or PC Parallel PrinterBus. In a different embodiment, bus 24 can be connected directly to adata bus of host computer system 12 using, for example, a plug-in cardand slot or other access of computer system 12. For example, on an IBMAT compatible computer, the interface card can be implemented as an ISA,EISA, VESA local bus, PCI, or other well-known standard interface cardwhich plugs into the motherboard of the computer and provides input andoutput ports connected to the main data bus of the computer.

In another embodiment, an additional bus 25 can be included tocommunicate between host computer system 12 and interface device 14.Since the speed requirement for communication signals is relatively highfor outputting force feedback signals, the single serial interface usedwith bus 24 may not provide signals to and from the interface device ata high enough rate to achieve realistic force feedback. In such anembodiment, bus 24 can be coupled to the standard serial port of hostcomputer 12, while an additional bus 25 can be coupled to a second portof the host computer system. For example, many computer systems includea “game port” in addition to a serial RS-232 port to connect a joystickor similar game controller to the computer. The two buses 24 and 25 canbe used simultaneously to provide a increased data bandwidth. Forexample, microprocessor 26 can send sensor signals to host computer 12via a uni-directional bus 25 and a game port, while host computer 12 canoutput force feedback signals from a serial port to microprocessor 26via a uni-directional bus 24. Other combinations of data flowconfigurations can be implemented in other embodiments.

Interface device 14 includes a local microprocessor 26, sensors 28,actuators 30, a user object 34, optional sensor interface 36, anoptional actuator interface 38, and other optional input devices 39.Interface device 14 may also include additional electronic componentsfor communicating via standard protocols on bus 24. In the preferredembodiment, multiple interface devices 14 can be coupled to a singlehost computer system 12 through bus 24 (or multiple buses 24) so thatmultiple users can simultaneously interface with the host applicationprogram (in a multi-player game or simulation, for example). Inaddition, multiple players can interact in the host application programwith multiple interface devices 14 using networked host computers 12, asis well known to those skilled in the art.

Local microprocessor 26 is coupled to bus 24 and is preferably includedwithin the housing of interface device 14 to allow quick communicationwith other components of the interface device. Processor 26 isconsidered “local” to interface device 14, where “local” herein refersto processor 26 being a separate microprocessor from any processors inhost computer system 12. “Local” also preferably refers to processor 26being dedicated to force feedback and sensor I/O of interface device 14,and being closely coupled to sensors 28 and actuators 30, such as withinthe housing for interface device or in a housing coupled closely tointerface device 14. Microprocessor 26 can be provided with softwareinstructions to wait for commands or requests from computer host 16,decode the command or request, and handle/control input and outputsignals according to the command or request. In addition, processor 26preferably operates independently of host computer 16 by reading sensorsignals and calculating appropriate forces from those sensor signals,time signals, and a reflex process (also referred to as a “subroutine”or “force sensation process” herein) selected in accordance with a hostcommand. Suitable microprocessors for use as local microprocessor 26include the MC68HC711E9 by Motorola and the PIC16C74 by Microchip, forexample. Microprocessor 26 can include one microprocessor chip, ormultiple processors and/or co-processor chips. In other embodiments,microprocessor 26 can includes a digital signal processor (DSP) chip.Local memory 27, such as RAM and/or ROM, is preferably coupled tomicroprocessor 26 in interface device 14 to store instructions formicroprocessor 26 and store temporary and other data. Microprocessor 26can receive signals from sensors 28 and provide signals to actuators 30of the interface device 14 in accordance with instructions provided byhost computer 12 over bus 24.

In addition, a local clock 29 can be coupled to the microprocessor 26 toprovide timing data, similar to system clock 18 of host computer 12; thetiming data might be required, for example, to compute forces output byactuators 30 (e.g., forces dependent on calculated velocities or othertime dependent factors). In alternate embodiments using the USBcommunication interface, timing data for microprocessor 26 can beretrieved from USB signal. The USB has a clock signal encoded with thedata stream which can be used. Alternatively, the Isochronous (stream)mode of USB can be used to derive timing information from the standarddata transfer rate. The USB also has a Sample Clock, Bus Clock, andService Clock that also may be used.

For example, in one embodiment, host computer 12 can provide low-levelforce commands over bus 24, which microprocessor 26 directly provides toactuators 30. This embodiment is described in greater detail withrespect to FIG. 4. In a different embodiment, host computer system 12can provide high level supervisory commands to microprocessor 26 overbus 24, and microprocessor 26 manages low level force control (“reflex”)loops to sensors 28 and actuators 30 in accordance with the high levelcommands. This embodiment is described in greater detail with respect toFIG. 5.

Microprocessor 26 preferably also has access to an electrically erasableprogrammable ROM (EEPROM) or other memory storage device 27 for storingcalibration parameters. The calibration parameters can compensate forslight manufacturing variations in different physical properties of thecomponents of different interface devices made from the samemanufacturing process, such as physical dimensions. The calibrationparameters can be determined and stored by the manufacturer before theinterface device 14 is sold, or optionally, the parameters can bedetermined by a user of the interface device. The calibration parametersare used by processor 26 to modify the input sensor signals and/oroutput force values to actuators 30 to provide approximately the samerange of forces on object 34 in a large number of manufactured interfacedevices 14. The implementation of calibration parameters is well-knownto those skilled in the art.

Microprocessor 26 can also receive commands from any other input devicesincluded on interface apparatus 14 and provides appropriate signals tohost computer 12 to indicate that the input information has beenreceived and any information included in the input information. Forexample, buttons, switches, dials, or other input controls on interfacedevice 14 or user object 34 can provide signals to microprocessor 26.

In the preferred embodiment, sensors 28, actuators 30, andmicroprocessor 26, and other related electronic components are includedin a housing for interface device 14, to which user object 34 isdirectly or indirectly coupled. Alternatively, microprocessor 26 and/orother electronic components of interface device 14 can be provided in aseparate housing from user object 34, sensors 28, and actuators 30.Also, additional mechanical structures may be included in interfacedevice 14 to provide object 34 with desired degrees of freedom. Someembodiments of such mechanisms are described with reference to FIGS.7-12.

Sensors 28 sense the position, motion, and/or other characteristics of auser object 34 of the interface device 14 along one or more degrees offreedom and provide signals to microprocessor 26 including informationrepresentative of those characteristics. Examples of embodiments of userobjects and movement within provided degrees of freedom are describedsubsequently with respect to FIGS. 7 and 8. Typically, a sensor 28 isprovided for each degree of freedom along which object 34 can be moved.Alternatively, a single compound sensor can be used to sense position ormovement in multiple degrees of freedom. An example of sensors suitablefor several embodiments described herein are digital optical encoders,which sense the change in position of an object about a rotational axisand provide digital signals indicative of the change in position. Theencoder, for example, responds to a shaft's rotation by producing twophase-related signals in the rotary degree of freedom. Linear opticalencoders similarly sense the change in position of object 34 along alinear degree of freedom, and can produces the two phase-related signalsin response to movement of a linear shaft in the linear degree offreedom. Either relative or absolute sensors can be used. For example,relative sensors only provide relative angle information, and thususually require some form of calibration step which provide a referenceposition for the relative angle information. The sensors describedherein are primarily relative sensors. In consequence, there is animplied calibration step after system power-up wherein a sensor's shaftis placed in a known position within interface device and a calibrationsignal is provided to the system to provide the reference positionmentioned above. All angles provided by the sensors are thereafterrelative to that reference position. Alternatively, a known index pulsecan be provided in the relative sensor which can provide a referenceposition. Such calibration methods are well known to those skilled inthe art and, therefore, will not be discussed in any great detailherein. A suitable optical encoder is the “Softpot” from U.S. Digital ofVancouver, Wash.

Sensors 28 provide an electrical signal to an optional sensor interface36, which can be used to convert sensor signals to signals that can beinterpreted by the microprocessor 26 and/or host computer system 12. Forexample, sensor interface 36 receives the two phase-related signals froma sensor 28 and converts the two signals into another pair of clocksignals, which drive a bi-directional binary counter. The output of thebinary counter is received by microprocessor 26 as a binary numberrepresenting the angular position of the encoded shaft. Such circuits,or equivalent circuits, are well known to those skilled in the art; forexample, the Quadrature Chip LS7166 from Hewlett Packard, Californiaperforms the functions described above. Each sensor 28 can be providedwith its own sensor interface, or one sensor interface may handle datafrom multiple sensors. For example, the electronic interface describedin parent U.S. Pat. No. 5,576,727 describes a sensor interface includinga separate processing chip dedicated to each sensor that provides inputdata. Alternately, microprocessor 26 can perform these interfacefunctions without the need for a separate sensor interface 36. Theposition value signals can be used by microprocessor 26 and are alsosent to host computer system 12 which updates the host applicationprogram and sends force control signals as appropriate. For example, ifthe user moves a steering wheel object 34, the computer system 12receives position and/or other signals indicating this movement and canmove a displayed point of view of the user as if looking out a vehicleand turning the vehicle. Other interface mechanisms can also be used toprovide an appropriate signal to host computer system 12. In alternateembodiments, sensor signals from sensors 28 can be provided directly tohost computer system 12, bypassing microprocessor 26. Also, sensorinterface 36 can be included within host computer system 12, such as onan interface board or card.

Alternatively, an analog sensor can be used instead of digital sensorfor all or some of the sensors 28. For example, a strain gauge can beconnected to measure forces on object 34 rather than positions of theobject. Also, velocity sensors and/or accelerometers can be used todirectly measure velocities and accelerations on object 34. Analogsensors can provide an analog signal representative of theposition/velocity/acceleration of the user object in a particular degreeof freedom. An analog to digital converter (ADC) can convert the analogsignal to a digital signal that is received and interpreted bymicroprocessor 26 and/or host computer system 12, as is well known tothose skilled in the art. The resolution of the detected motion ofobject 34 would be limited by the resolution of the ADC. However, noisecan sometimes mask small movements of object 34 from an analog sensor,which can potentially mask the play that is important to someembodiments of the present invention (described subsequently).

Other types of interface circuitry 36 can also be used. For example, anelectronic interface is described in U.S. Pat. No. 5,576,727, entitled,“Electromechanical Human-Computer Interface with Force Feedback”,previously incorporated herein. The interface allows the position of themouse or stylus to be tracked and provides force feedback to the stylususing sensors and actuators. Sensor interface 36 can include angledetermining chips to pre-process angle signals reads from sensors 28before sending them to the microprocessor 26. For example, a data busplus chip-enable lines allow any of the angle determining chips tocommunicate with the microprocessor. A configuration withoutangle-determining chips is most applicable in an embodiment havingabsolute sensors, which have output signals directly indicating theangles without any further processing, thereby requiring lesscomputation for the microprocessor 26 and thus little if anypre-processing. If the sensors 28 are relative sensors, which indicateonly the change in an angle and which require further processing forcomplete determination of the angle, then angle-determining chips aremore appropriate.

Actuators 30 transmit forces to user object 34 of the interface device14 in one or more directions along one or more degrees of freedom inresponse to signals received from microprocessor 26. Typically, anactuator 30 is provided for each degree of freedom along which forcesare desired to be transmitted. Actuators 30 can include two types:active actuators and passive actuators.

Active actuators include linear current control motors, stepper motors,pneumatic/hydraulic active actuators, and other types of actuators thattransmit a force to move an object. For example, active actuators candrive a rotational shaft about an axis in a rotary degree of freedom, ordrive a linear shaft along a linear degree of freedom. Activetransducers of the present invention are preferably bi-directional,meaning they can selectively transmit force along either direction of adegree of freedom. For example, DC servo motors can receive forcecontrol signals to control the direction and torque (force output) thatis produced on a shaft. The motors may also include brakes which allowthe rotation of the shaft to be halted in a short span of time. Othertypes of active motors can also be used, such as a stepper motorcontrolled with pulse width modulation of an applied voltage,pneumatic/hydraulic actuators, a torquer (motor with limited angularrange), or a voice coil actuator, which are well known to those skilledin the art.

Passive actuators can also be used for actuators 30. Magnetic particlebrakes, friction brakes, or pneumatic/hydraulic passive actuators can beused in addition to or instead of a motor to generate a dampingresistance or friction in a degree of motion. An alternate preferredembodiment only including passive actuators may not be as realistic asan embodiment including motors; however, the passive actuators aretypically safer for a user since the user does not have to fightgenerated forces. Passive actuators typically can only providebi-directional resistance to a degree of motion. A suitable magneticparticle brake for interface device 14 is available from Force Limited,Inc. of Santa Monica, Calif.

In alternate embodiments, all or some of sensors 28 and actuators 30 canbe included together as a sensor/actuator pair transducer. A suitabletransducer for the present invention including both an optical encoderand current controlled motor is a 20 W basket wound servo motormanufactured by Maxon.

Actuator interface 38 can be optionally connected between actuators 30and microprocessor 26. Interface 38 converts signals from microprocessor26 into signals appropriate to drive actuators 30. Interface 38 caninclude power amplifiers, switches, digital to analog controllers(DACs), and other components. An example of an actuator interface foractive actuators is described with reference to FIG. 2. An example of anactuator interface for passive actuators is described with reference toFIG. 3. In alternate embodiments, interface 38 circuitry can be providedwithin microprocessor 26 or in actuators 30.

Other input devices 39 can optionally be included in interface device 14and send input signals to microprocessor 26. Such input devices caninclude buttons, dials, switches, or other mechanisms. For example, inembodiments where user object 34 is a joystick, other input devices caninclude one or more buttons provided, for example, on the joystickhandle or base and used to supplement the input from the user to a gameor simulation. The operation of such input devices is well known tothose skilled in the art.

Power supply 40 can optionally be coupled to actuator interface 38and/or actuators 30 to provide electrical power. Active actuatorstypically require a separate power source to be driven. Power supply 40can be included within the housing of interface device 14, or can beprovided as a separate component, for example, connected by anelectrical power cord.

Alternatively, if the USB or a similar communication protocol is used,interface device 14 can draw power from the USB and thus have no needfor power supply 40. This embodiment is most applicable to a device 14having passive actuators 30, since passive actuators require littlepower to operate. Active actuators tend to require more power than canbe drawn from USB, but this restriction can be overcome in a number ofways. One way is to configure interface 14 to appear as more than oneperipheral to host computer 12; for example, each provided degree offreedom of user object 34 can be configured as a different peripheraland receive its own allocation of power. This would allow host 12 toallocate more power to interface device 14. Alternatively, power fromthe USB can be stored and regulated by interface device 14 and thus usedwhen needed to drive actuators 30. For example, power can be stored overtime and then immediately dissipated to provide a jolt force to the userobject 34. A capacitor circuit, for example, can store the energy anddissipate the energy when enough power has been stored. Microprocessormay have to regulate the output of forces to assure that time is allowedfor power to be stored. This power storage embodiment can. also be usedin non-USB embodiments of interface device 14 to allow a smaller powersupply 40 to be used.

Safety switch 41 is preferably included in interface device to provide amechanism to allow a user to override and deactivate actuators 30, orrequire a user to activate actuators 30, for safety reasons. Certaintypes of actuators, especially active actuators such as motors, can posea safety issue for the user if the actuators unexpectedly move userobject 34 against the user with a strong force. In addition, if afailure in the control system 10 occurs, the user may desire to quicklydeactivate the actuators to avoid any injury. To provide this option,safety switch 41 is coupled to actuators 30. In the preferredembodiment, the user must continually activate or close safety switch 41during operation of interface device 14 to activate the actuators 30.If, at any time, the safety switch is deactivated (opened), power frompower supply 40 is cut to actuators 30 (or the actuators are otherwisedeactivated) as long as the safety switch is deactivated. For example, apreferred embodiment of safety switch is an optical switch located onuser object 34 (such as a joystick) or on a convenient surface of ahousing enclosing interface device 14. When the user covers the opticalswitch with a hand or finger, the sensor of the switch is blocked fromsensing ambient light, and the switch is closed. The actuators 30 thuswill function as long as the user covers the switch. Other types ofsafety switches 41 can be provided in other embodiments. For example, anelectrostatic contact switch can be used to sense contact, a button ortrigger can be pressed, or a different type of sensor switch can beused.

User object 34 is preferably a device or article that may be grasped orotherwise contacted or controlled by a user and which is coupled tointerface device 14. By “grasp”, it is meant that users may releasablyengage a grip portion of the object in some fashion, such as by hand,with their fingertips, or even orally in the case of handicappedpersons. The user 22 can manipulate and move the object along provideddegrees of freedom to interface with the host application program theuser is viewing on display screen 20. Object 34 can be a joystick,mouse, trackball, stylus, steering wheel, medical instrument(laparoscope, catheter, etc.), pool cue, hand grip, knob, button, orother article.

FIG. 2 is a schematic diagram illustrating an example of an actuatorinterface 38 for an active actuator 30 of interface device 14. In thisexample, actuator 30 is a linear current controlled servo motor.Actuator interface 38 includes a DAC circuit 44 and a power amplifiercircuit 46.

DAC circuit 44 is coupled to microprocessor 26 and preferably receives adigital signal representing a force value from the microprocessor 26.DAC 48 is suitable for converting an input digital signal to an analogvoltage that is output to power amplifier circuit 46. A suitable DAC 48is a parallel DAC, such as the DAC1220 manufactured by NationalSemiconductor, which is designed to operate with external generic op amp50. Op amp 50, for example, outputs a signal from zero to −5 voltsproportional to the binary number at its input. Op amp 52 is aninverting summing amplifier that converts the output voltage to asymmetrical bipolar range. Op amp 52 produces an output signal between−2.5 V and +2.5 V by inverting the output of op amp 50 and subtracting2.5 volts from that output; this output signal is suitable for poweramplification in amplification circuit 46. As an example, R1=200 kW andR2=400 kW. Of course, DAC circuit 44 is intended as one example of manypossible circuits that can be used to convert a digital signal to adesired analog signal.

Power amplifier circuit 46 receives an analog low-power control voltagefrom DAC circuit 44 and amplifies the voltage to control actuators 30.Actuator 30 can be a high-power, current-controlled servo motor 30. Theinput voltage controls a transconductance stage composed of amplifier 54and several resistors. The transconductance stage produces an outputcurrent proportional to the input voltage to drive motor 30 whiledrawing very little current from the input voltage source. The secondamplifier stage, including amplifier 56, resistors, and a capacitor C,provides additional current capacity by enhancing the voltage swing ofthe second terminal 57 of motor 30. As example values for poweramplifier circuit 46, R=10 kW, R2=500 W, R3=9.75 kW, and R4=1 W. Ofcourse, circuit 46 is intended as one example of many possible circuitsthat can be used to amplify voltages to drive active actuators 30.

FIG. 3 is a schematic diagram illustrating an example of an actuatorinterface 38′ that can be used in conjunction with passive actuators.Interface 38′ is suitable for use with passive actuators (dampers) thatare controlled with an analog voltage, such as magnetic particle brakesor a variable solenoid used with the fluid controlled passive dampers ofU.S. Pat. No. 5,721,566. Interface 38′ includes a DAC circuit 44,amplifier 60, transistor 62, and voltage protector 64. DAC circuit 44 iscoupled to microprocessor 26 and receives a digital signal from thecomputer system representing a resistive force value to be applied touser object 34. DAC circuit 44 converts the digital signal voltages toanalog voltages which are then output to amplifier 60. A suitable DAC isthe MAX530ACNG manufactured by Maxim, or DAC circuit 44 as describedabove with reference to FIG. 2. Amplifier 60 receives the analog voltagefrom DAC 44 on a positive terminal and scales the voltage signal to arange usable by actuator 30. Amplifier 60 can be implemented as anoperational amplifier or the like. Transistor 62 is coupled to theoutput of amplifier 60 and preferably operates as an amplifier toprovide increased output current to actuator 30. Resistor R1 is coupledbetween amplifier 60 and the emitter of transistor 62, and resistor R2is coupled between amplifier 60 and ground. For example, resistors R1and R2 can have values of 180 kΩ and 120 kΩ, respectively, and providethe proper biasing in the circuit. Voltage protector 64 is coupled tothe emitter of transistor 62 and provides protection from voltage spikeswhen using inductive loads. Suitable passive actuators 30 for use withthis circuitry includes variable solenoids or magnetic particle brakes.A separate DAC and amplifier can be used for each actuator 30implemented in the interface apparatus so the microprocessor 26 and/orhost computer system 12 can control each actuator separately for eachprovided degree of freedom. Interface 38′ is intended as one example ofmany possible circuits that can be used to interface a computer systemto actuators.

In an alternate embodiment, an on/off signal might only be needed, forexample, for a solenoid driving an on/off valve of a fluid-controlledactuator as described in co-pending U.S. Pat. No. 5,721,566 and below inFIG. 10. In such an embodiment, for example, a transistor can beelectrically coupled to microprocessor 26 at its base terminal tooperate as an electrical switch for controlling the activation of asolenoid in the on/off actuator 30. A force signal such as a TTL logicsignal can be sent to control the transistor to either allow current toflow through the solenoid to activate it and allow free movement ofobject 43, or to allow no current to flow to deactivate the solenoid andprovide resistance to movement.

FIG. 4 is a flow diagram illustrating a first embodiment of a method 70for controlling a force feedback interface device of the presentinvention. Method 70 is directed to a “host-controlled” embodiment, inwhich host computer system 12 provides direct, low-level force commandsto microprocessor 26, and the microprocessor directly provides theseforce commands to actuators 30 to control forces output by theactuators.

For example, the host controlled mode is suitable for embodiments usinga USB communication interface. Data rates are sufficiently high to allowthe host to communicate at 500 Hz or greater and provide realistic forcefeedback to the user object 34. The USB Isochronous Data Transfer modeof USB is suitable to provide the necessary high data rate.

The process begins at 72. In step 74, host computer system 12 andinterface device 14 are powered up, for example, by a user activatingpower switches. After step 74, the process 70 branches into two parallel(simultaneous) processes. One process is implemented on host computersystem 12, and the other process is implemented on local microprocessor26. These two processes branch out of step 74 in different directions toindicate this simultaneity.

In the host computer system process, step 76 is first implemented, inwhich an application program is processed or updated. This applicationcan be a simulation, video game, scientific program, or other program.Images can be displayed for a user on output display screen 20 and otherfeedback can be presented, such as audio feedback.

Two branches exit step 76 to indicate that there are two processesrunning simultaneously (multitasking) on host computer system 12. In oneprocess, step 78 is implemented, where sensor data is received by thehost computer from local microprocessor 26. As detailed below in themicroprocessor process, the local processor 26 continually receivessignals from sensors 28, processes the raw data, and sends processedsensor data to host computer 12, Alternatively, local processor 26 sendsraw data directly to host computer system 12. “Sensor data”, as referredto herein, can include position values, velocity values, and/oracceleration values derived from the sensors 28 which detect motion ofobject 34 in one or more degrees of freedom. In addition, any other datareceived from other input devices 39 can also be received by hostcomputer system 12 as sensor data in step 78, such as signals indicatinga button on interface device 14 has been activated by the user. Finally,the term “sensor data” also can include a history of values, such asposition values recorded previously and stored in order to calculate avelocity.

After sensor data is read in step 78, the process returns to step 76,where the host computer system 12 can update the application program inresponse to the user's manipulations of object 34 and any other userinput received in step 78 as well as determine if forces need to beapplied to object 34 in the parallel process. Step 78 is implemented ina continual loop of reading data from local processor 26.

The second branch from step 76 is concerned with the process of the hostcomputer determining force commands to provide force feedback to theuser manipulating object 34. These commands are described herein as“low-level” force commands, as distinguished from the “high-level” orsupervisory force commands described in the embodiment of FIG. 5. A lowlevel force command instructs an actuator to output a force of aparticular magnitude. For example, the low level command typicallyincludes a magnitude force value, e.g., equivalent signal(s) to instructthe actuator to apply a force of a desired magnitude value. Low levelforce commands may also designate a direction of force if an actuatorcan apply force in a selected direction, and/or other low-levelinformation as required by an actuator.

The second branch starts with step 80, in which the host computer systemchecks if a change in the force applied to user object 34 is required.This can be determined by several types of criteria, the most importantof which are the sensor data read by the host computer in step 78,timing data, and the implementation or “events” of the applicationprogram updated in step 76. The sensor data read in step 78 informs thehost computer 12 how the user is interacting with the applicationprogram. From the position of object 34 sensed over time, the hostcomputer system 12 can determine when forces should be applied to theobject. For example, if the host computer is implementing a video gameapplication, the position of a computer generated object within the gamemay determine if a change in force feedback is called for. If the useris controlling a simulated race car, the position of the user objectjoystick determines if the race car is moving into a wall and thus if acollision force should be generated on the joystick. In addition, thevelocity and/or acceleration of the user object can influence whether achange in force on the object is required. If the user is controlling atennis racket in a game, the velocity of a user object joystick in aparticular degree of freedom may determine if a tennis ball is hit andthis if an appropriate force should be applied to the joystick. Also,other input, such as a user activating buttons or other controls oninterface device 14, can change the forces required on object 34depending on how those controls have been programmed to affect theapplication program.

Other criteria for determining if a change in force is required includesevents in the application program. For example, a game applicationprogram may (perhaps randomly) determine that another object in the gameis going to collide with an object controlled by the user, regardless ofthe position data of the user object 34. Forces should thus be appliedto the user object dependent on this collision event to simulate animpact. Forces can be required on the user object depending on acombination of such an event and the sensor data read in step 78. Otherparameters in the application program can determine if a change in forceto the user object is necessary, such as other input devices or userinterface devices connected to host computer system 12 and inputtingdata to the application program (other interface devices can be directlyconnected, connected remotely through a network, etc.).

If no change in force is currently required in step 80, then the processreturns to step 76 to update the host application and return to step 80to again check until such a change in force is required. When such achange is required, step 82 is implemented, in which host computer 12determines appropriate low-level force commands to be sent to theactuators 30 of interface device 14, these force commands beingdependent on a selected force sensation process, sensor data, the hostapplication, and the clock 18.

The low-level force commands can be determined, in part, from a selectedforce sensation process. A “reflex process” or “force sensationprocess”, as referred to herein, is a set of instructions for providingforce commands dependent on other parameters, such as sensor data readin step 78 and timing data from clock 18. In the described embodiment,force sensation processes can include several different types of stepsand/or instructions. One type of instruction is a force algorithm, whichincludes an equation that host computer 12 can use to calculate or modela force value based on sensor and timing data. Several types ofalgorithms can be used. For example, algorithms in which force varieslinearly (or nonlinearly) with the position of object 34 can be used toprovide a simulated force like a spring. Algorithms in which forcevaries linearly (or nonlinearly) with the velocity of object 34 can bealso used to provide a simulated damping force or other forces.Algorithms in which force varies linearly (or nonlinearly) with theacceleration of object 34 can also be used to provide, for example, asimulated inertial force on a mass (for linear variation) or a simulatedgravitational pull (for nonlinear variation). Several types of simulatedforces and the algorithms used to calculate such forces are described in“Perceptual Design of a Virtual Rigid Surface Contact,” by Louis B.Rosenberg, Center for Design Research, Stanford University, Reportnumber AL/CF-TR-1995-0029, April 1993, which is incorporated byreference herein.

For force values depending on the velocity and acceleration of userobject 34, the velocity and acceleration can be provided in a number ofdifferent ways. The sensor data read by host computer 12 in step 78 caninclude position data, velocity data, and acceleration data. In apreferred embodiment, the velocity and acceleration data was calculatedpreviously by microprocessor 26 and then provided to the host computer12. The host computer can thus use the velocity and acceleration datadirectly in an algorithm to calculate a force value. In an alternateembodiment, the sensor data read in step 78 includes position data andno velocity or acceleration data, so that host computer 12 is requiredto calculate the velocity and acceleration from the position data. Thiscan be accomplished by recording a number of past position values,recording the time when each such position value was received using thesystem clock 18, and calculating a velocity and/or acceleration fromsuch data.

For example, a kinematic equation which calculates a force based on thevelocity of the user object multiplied by a damping constant can be usedto determine a damping force on the user object. This type of equationcan simulate motion of object 34 along one degree of freedom through afluid or similar material. A procedure for calculating a damping forceon object 34 is described in co-pending patent application Ser. No.08/400,233, filed Mar. 3, 1995, entitled “Method and Apparatus forProviding Passive Force Feedback”, which is hereby incorporated byreference herein. For example, a damping constant can first be selectedwhich indicates the degree of resistance that object 34 experiences whenmoving through a simulated material, such as a liquid, where a greaternumber indicates greater resistance. For example, water would have alower damping constant than oil or syrup. The host computer recalls theprevious position of user object 34 (along a particular degree offreedom), examine the current position of the user object, and calculatethe difference in position. From the sign (negative or positive) of thedifference, the direction of the movement of object 34 can also bedetermined. The force is then set equal to the damping constantmultiplied by the change in position. Commands that controlled anactuator based on this algorithm would produce a force proportional tothe user object's motion to simulate movement through a fluid. Movementin other mediums, such as on a bumpy surface, on an inclined plane,etc., can be simulated in a similar fashion using different methods ofcalculating the force.

The determination of force commands is preferably influenced by timingdata accessed from system clock 18. For example, in the damping forceexample described above, the velocity of the user object 34 isdetermined by calculating the different of positions of the user objectand multiplying by the damping constant. This calculation assumes afixed time interval between data points, i.e., it is assumed that theposition data of the object 34 is received by host computer 12 inregular, predetermined time intervals. However, this may not actuallyoccur due to different processing speeds of different computer platformsor due to processing variations on a single host microprocessor 16, suchas due to multitasking. Therefore, in the present invention, the hostcomputer preferably accesses clock 12 to determine how much time hasactually elapsed since the last position data was received. In thedamping force example, the host computer could take the difference inposition and divide it by a time measure to account for differences intiming. The host computer can thus use the clock's timing data in themodulation of forces and force sensations to the user. Timing data canbe used in other algorithms and force sensation processes of the presentinvention to provide repeatable and consistent force feedback regardlessof type of platform or available processing time on host computer 12.

Other instructions can also be included in a force sensation process.For example, conditions can be included to provide forces only indesired directions or under other particular circumstances. For example,to simulate a virtual obstruction such as a wall, forces should beapplied in only one direction (uni-directional). For many passiveactuators, only bi-directional resistance forces can be applied. Tosimulate uni-direction resistance, conditions can be included in thevirtual obstruction force sensation process. An example of suchconditions in a virtual obstruction force sensation process is describedwith respect to FIG. 12. Also, a “null” reflex process can be availablethat instructs host computer 12 (or microprocessor 26 in the embodimentof FIG. 5) to issue a low level command or force values to provide zeroforces (i.e. remove all forces) on user object 34.

Another type of force sensation process does not use algorithms to modela force, but instead uses force values that have been previouslycalculated or sampled and stored as a digitized “force profile” inmemory or other storage device. These force values may have beenpreviously generated using an equation or algorithm as described above,or provided by sampling and digitizing forces. For example, to provide aparticular force sensation to the user, host computer 12 can beinstructed by a force sensation process to retrieve successive forcevalues from a certain storage device, such as RAM, ROM, hard disk, etc.These force values can be sent directly to an actuator in a low-levelcommand to provide particular forces without requiring host computer 12to calculate the force values. In addition, previously-stored forcevalues can be output with respect to other parameters to providedifferent types of forces and force sensations from one set of storedforce values. For example, using system clock 18, the stored forcevalues can be output in sequence according to a particular time intervalthat can vary depending on the desired force. Or, different retrievedforce values can be output depending on the current position of userobject 34.

Host computer 12 can determine a force command in step 82 according to anewly-selected reflex process, or to a previously selected reflexprocess. For example, if this is a second or later iteration of step 82,the same reflex process as in the previous iteration can be againimplemented if parameters (such as the position of object 34) allow it,as determined by the host application program.

The force command determined in step 82 can also depend on instructionsthat check for other parameters. These instructions can be includedwithin or external to the above-described reflex processes. One suchparameter are values provided by the implemented host applicationprogram (if any). The application program may determine that aparticular force command should be output or reflex process implementedbased on events occurring within the application program or otherinstructions. Force commands or values can be provided by the hostapplication program independently of sensor data. Also, the hostapplication program can provide its own particular position, velocity,and/or acceleration data to a selected reflex process to calculate orprovide a force that is not based on the manipulation of user object 34,but is provided to simulate an event in the application program. Suchevents may include collision events, such as occur when auser-controlled computer image impacts a virtual surface or structure.Also, other input devices connected to host computer 12 can influenceevents and, therefore, the forces applied to user object 34. Forexample, the sensor data from multiple interface devices 14 connected toa single host computer can influence the forces felt on other connectedinterface devices by influencing events and computer-controlledimages/objects of the host application program.

Also, the force commands determined in step 82 can be based on otherinputs to host computer 12, such as activations of buttons or otherinput devices in (or external to) interface device 14. For example, aparticular application program might require that a force be applied toa joystick whenever a user presses a fire button on the joystick.

The above-described reflex processes and other parameters can be used toprovide a variety of haptic sensations to the user through the userobject 34 to simulate many different types of tactile events. Forexample, typical haptic sensations may include a virtual damping(described above), a virtual obstruction, and a virtual texture. Virtualobstructions are provided to simulate walls, obstructions, and otheruni-directional forces in a simulation, game, etc. When a user moves acomputer image into a virtual obstruction with a joystick, the user thenfeels a physical resistance as he or she continues to move the joystickin that direction. If the user moves the object away from theobstruction, the uni-directional force is removed. Thus the user isgiven a convincing sensation that the virtual obstruction displayed onthe screen has physical properties. Similarly, virtual textures can beused to simulate a surface condition or similar texture. For example, asthe user moves a joystick or other user object along an axis, the hostcomputer sends a rapid sequence of commands to repetitively 1) applyresistance along that axis, and 2) to then immediately apply noresistance along that axis, as according to a reflex process. Thisfrequency is based upon the travel of the joystick handle and is thuscorrelated with spatial position. Thus, the user feels a physicalsensation of texture, which can be described as the feeling of dragginga stick over a grating.

In next step 84, a low-level force command determined in step 82 isoutput to microprocessor 26 over bus 24. This force command typicallyincludes a force value that was determined in accordance with theparameters described above. The force command can be output as an actualforce signal that is merely relayed to an actuator 30 by microprocessor26; or, the force command can be converted to an appropriate form bymicroprocessor 26 before being sent to actuator 30. In addition, thelow-level force command preferably includes information indicating tomicroprocessor 26 which actuators are to receive this force value (ifmultiple actuators are included on interface device 14). The processthen returns to step 76 to process/update the host application program.The process continues to step 80, where the host computer checks if adifferent force command should be output as determined by the parametersdescribed above. If so, a new force command is determined and output instep 84. If no change of force is required, host computer 12 does notissue another command, since microprocessor 26 can continues to outputthe previous force command to actuators 30 (alternatively, host computer12 can continue to output commands, even if no change of force isrequired). Subsequent force commands output in step 84 can be determinedin accordance with the same reflex process, or a different reflexprocess, depending on the parameters of step 82.

In addition, the host computer 12 preferably synchronizes anyappropriate visual feedback, auditory feedback, or other feedbackrelated to the host application with the application of forces on userobject 34. For example, in a video game application, the onset or startof visual events, such as an object colliding with the user on displayscreen 20, should be synchronized with the onset or start of forces feltby the user which correspond to or complement those visual events. Theonsets visual events and force events are preferably occur within about30 milliseconds (ms) of each other. This span of time is the typicallimit of human perceptual ability to perceive the events assimultaneous. If the visual and force events occur outside this range,then a time lag between the events can usually be perceived. Similarly,the output of auditory signals, corresponding to the onset of auditoryevents in the host application, are preferably output synchronized withthe onset of output forces that correspond to/complement those auditoryevents. Again, the onsets of these events occur preferably within about30 ms of each other. For example, host computer system 12 can outputsounds of an explosion from speakers 21 as close in time as possible tothe forces felt by the user from that explosion in a simulation.Preferably, the magnitude of the sound is in direct (as opposed toinverse) proportion to the magnitude of the forces applied to userobject 34. For example, during a simulation, a low sound of an explosionin the far (virtual) distance can cause a small force on user object 34,while a large, “nearby” explosion might cause a loud sound to be outputby the speakers and a correspondingly large force to be output on object34.

The local microprocessor 26 implements the process branching from step74 and starting with step 86 in parallel with the host computer processdescribed above. In step 86, the interface device 14 is activated. Forexample, signals can be sent between host computer 12 and interfacedevice 14 to acknowledge that the interface device is now active. Fromstep 86, two processes branch to indicate that there are two processesrunning simultaneously (multi-tasking) on local processor 26. In oneprocess, step 88 is implemented, in which the processor 26 reads rawdata (sensor readings) from sensors 28. Such raw data preferablyincludes position values describing the position of the user objectalong provided degrees of freedom. In the preferred embodiment, sensors28 are relative sensors that provide position values describing thechange in position since the last position read. Processor 26 candetermine the absolute position by measuring the relative position froma designated reference position. In alternate embodiments, sensors 28can include velocity sensors and accelerometers for providing rawvelocity and acceleration values of object 34. The raw data read in step88 can also include other input, such as from an activated button orother control 39 of interface device 14.

In next step 90, processor 26 processes the received raw data intosensor data, if applicable. In the preferred embodiment, this processingincludes two steps: computing velocity and/or acceleration values fromraw position data (if velocity and/or acceleration are needed to computeforces), and filtering the computed velocity and acceleration data. Thevelocity and acceleration values are computed from raw position datareceived in step 88 and stored position and time values. Preferably,processor 26 stores a number of position values and time valuescorresponding to when the position values were received. Processor 26can use its own or a local system clock (not shown in FIG. 1) todetermine the timing data. The velocity and acceleration can be computedusing the stored position data and timing data, as is well known tothose skilled in the art. The calculated velocity and/or accelerationvalues can then be filtered to remove noise from the data, such as largespikes that may result in velocity calculations from quick changes inposition of object 34. Thus, the sensor data in the described embodimentincludes position, velocity, acceleration, and other input data. In analternate embodiment, circuitry that is electrically coupled to butseparate from processor 26 can receive the raw data and determinevelocity and acceleration. For example, an application-specificintegrated circuit (ASIC) or discrete logic circuitry can use countersor the like to determine velocity and acceleration to save processingtime on microprocessor 26.

Alternatively, step 90 can be omitted, and the processor 26 can provideraw position data to host computer 12 (and other input data from otherinput devices 39). This would require host computer 12 to filter andcompute velocity and acceleration from the position data. Thus, it ispreferred that processor 26 do this processing to reduce the amount ofprocessing performed on host computer 12. In other embodiments, thefiltering can be performed on host computer 12 while the velocity andacceleration calculation can be performed on the processor 26. Also, inembodiments where velocity and/or acceleration sensors are used toprovide raw velocity and acceleration data, the calculation of velocityand/or acceleration can be omitted. After step 90, step 91 isimplemented, in which the processor 26 sends the processed sensor datato the host computer 12 via bus 24. The process then returns to step 88to read raw data. Steps 88, 90 and 91 are thus continuously implementedto provide current sensor data to host computer system 12.

The second branch from step 86 is concerned with processor 26controlling the actuators 30 to provide forces calculated by hostcomputer 12 to object 34. The second branch starts with step 92, inwhich processor 26 checks if a low-level force command has been receivedfrom host computer 12 over bus 24. If not, the process continuallychecks for such a force command. When a force command has been received,step 94 is implemented, in which processor 26 outputs a low-levelprocessor force command to the designated actuators to set the outputforce to the desired magnitude, direction, etc. This force command maybe equivalent to the received low-level command from the host computer,or, the processor 26 can optionally convert the force command to anappropriate form usable by actuator 30 (or actuator interface 38 canperform such conversion). The process then returns to step 92 to checkfor another force command from the host computer 12.

FIG. 5 is a flow diagram illustrating a second embodiment of a method100 for controlling force feedback interface device 14 of the presentinvention. Method 100 is directed to a “reflex” embodiment, in whichhost computer system 12 provides only high-level supervisory forcecommands (“host commands”) to microprocessor 26, while themicroprocessor independently determines and provides low-level forcecommands (force values) to actuators 30 as an independent “reflex” tocontrol forces output by the actuators.

The process of FIG. 5 is suitable for low speed communicationinterfaces, such as a standard RS-232 serial interface. However, theembodiment of FIG. 5 is also suitable for high speed communicationinterfaces such as USB, since the local microprocessor relievescomputational burden from host processor 16. In addition, thisembodiment can provide a straightforward command protocol, an example ofwhich is described with respect to FIGS. 9 and 14, and which allowsoftware developers to easily provide force feedback in a hostapplication. In this embodiment, for example, the slower “interrupt datatransfers” mode of USB can be used.

The process begins at 102. In step 104, host computer system 12 andinterface device 14 are powered up, for example, by a user activatingpower switches. After step 104, the process 100 branches into twoparallel processes. One process is implemented on host computer system12, and the other process is implemented on local microprocessor 26.

In the host computer system process, step 106 is first implemented, inwhich an application program is processed. This application can be asimulation, video game, scientific program, or other program. Images canbe displayed for a user on output display screen 20 and other feedbackcan be presented, such as audio feedback.

Two branches exit step 106 to indicate that there are two processesrunning simultaneously (multi-tasking, etc.) on host computer system 12.In one of the processes, step 108 is implemented, where sensor data fromthe user object is received by the host computer from localmicroprocessor 26. Similarly to step 78 of the process of FIG. 4, hostcomputer system 12 receives either raw data (e.g., position data and novelocity or acceleration data) or processed sensor data (position,velocity and/or acceleration data) from microprocessor 26. In addition,any other data received from other input devices 39 can also be receivedby host computer system 12 from microprocessor 26 in step 108, such assignals indicating a button on interface device 14 has been pressed bythe user.

Unlike the previous embodiment of FIG. 4, the host computer does notcalculate force values from the received sensor data in step 108.Rather, host computer 12 monitors the sensor data to determine when achange in the type of force is required. This is described in greaterdetail below. Of course, host computer 12 also uses the sensor data asinput for the host application to update the host applicationaccordingly.

After sensor data is received in step 108, the process returns to step106, where the host computer system 12 can update the applicationprogram in response to the user's manipulations of object 34 and anyother user input received in step 108. Step 108 is then implementedagain in a continual loop of receiving sets of sensor data from localprocessor 26. Since the host computer does not need to directly controlactuators based on sensor data, the sensor data can be provided at amuch lower speed. For example, since the host computer updates the hostapplication and images on display screen 20 in response to sensor data,the sensor data need only be read at 60-70 Hz (the refresh cycle of atypical display screen) compared to the much higher rate of about500-1000 Hz (or greater) needed to realistically provide low-level forcefeedback signals from sensor signals. Host computer 12 also preferablysynchronizes visual, audio, and force events similarly as describedabove with reference to FIG. 4.

The second branch from step 106 is concerned with the process of thehost computer determining high-level force commands (“host commands”) toprovide force feedback to the user manipulating object 34. The secondbranch starts with step 110, in which the host computer system checks ifa change in the type of force applied to user object 34 is required. The“type” of force is a force sensation or profile produced by a particularreflex process or force value which the local microprocessor 26 canimplement independently of the host computer. The host computer 12determines whether a change in the type of force is required dependingon the sensor data read by the host computer in step 108 and dependingon the events of the application program updated in step 106. Asexplained with reference to FIG. 4, the sensor data informs the hostcomputer when forces should be applied to the object based on theobject's current position, velocity, and/or acceleration. The user'smanipulations of object 34 may have caused a new type of force torequired. For example, if the user is moving a virtual race car within avirtual pool of mud in a video game, a damping type of force should beapplied to the object 34 as long as the race car moves within the mud.Thus, damping forces need to be continually applied to the object, butno change in the type of force is required. When the race car moves outof the pool of mud, a new type of force (i.e. a removal of damping forcein this case) is required. The events of the application program mayalso require a change in the type of force applied. For example, if theuser's car is travelling through mud and another car collides into theuser's car, then a new type of force (collision force) should be appliedto the user object. Forces may be required on the user object dependingon a combination of an application event and the sensor data read instep 108. Also, other input, such as a user activating buttons or otherinput devices 39 on interface device 14, can change the type of forcesrequired on object 34.

If no change in the type of force is currently required in step 110,then the process returns to step 106 to update the host application andreturn to step 110 to again check until such a change the type of forceis required. When such a change is required, step 112 is implemented, inwhich host computer 12 determines an appropriate host command to send tomicroprocessor 26. The available host commands for host computer 12 mayeach correspond to an associated reflex process implemented bymicroprocessor 26. For example, host commands to provide a dampingforce, a spring force, a gravitational pull, a bumpy surface force, avirtual obstruction force, and other forces can be available to hostcomputer 12. These host commands can also include a designation of theparticular actuators 30 or degrees of freedom which are to apply thisdesired force on object 34. The host commands can also include othercommand parameter information which might vary the force produced by aparticular reflex process. For example, a damping constant can beincluded in a host command to designate a desired amount of dampingforce. The host command may also preferably override the reflexoperation of the processor 26 and include low-level force values. Apreferred command protocol and detailed description of a set of hostcommands is described in greater detail below with respect to FIGS. 9and 14. In next step 114, the host computer sends the host command tothe microprocessor 26 over bus 24. The process then returns to step 106to update the host application and to return to step 110 to check ifanother change in force is required.

The local microprocessor 26 implements the process branching from step104 and starting with step 116 in parallel with the host computerprocess described above. In step 116, the interface device 14 isactivated. For example, signals can be sent between host computer 12 andinterface device 14 to acknowledge that the interface device is nowactive and can be commanded by host computer 12. From step 116, twoprocesses branch to indicate that there are two processes runningsimultaneously (multi-tasking) on local processor 26. In one process,step 118 is implemented, in which the processor 26 reads raw data fromsensors 28. As described in step 88 of FIG. 4, processor 26 preferablyreads position data and no velocity or acceleration data from sensors28. In alternate embodiments, sensors 28 can include velocity sensorsand accelerometers for providing velocity and acceleration values ofobject 34. The sensor data read in step 118 can also include otherinput, such as from an activated button or other control of interfacedevice 14.

In next step 120, processor 26 processes the received raw data intosensor data. As described in step 90 of FIG. 4, this processingpreferably includes the two steps of computing velocity and accelerationdata from the filtered position data and filtering the velocity andacceleration data. Processor 26 can use its own local clock 21 todetermine the timing data needed for computing velocity andacceleration. In addition, a history of previous recorded values, suchas position or velocity values, can be used to calculate sensor data. Inembodiments where velocity and/or acceleration sensors are used, thecalculation of velocity and/or acceleration is omitted. In next step121, the processor 26 sends the processed sensor data to host computer12 and also stores the data for computing forces, as described in thesecond branch process of processor 26. The process then returns to step118 to read raw data. Steps 118, 120 and 121 are thus continuouslyimplemented to provide current sensor data to processor 26 and hostcomputer 12.

The second branch from step 116 is concerned with an “actuator process”in which processor 26 controls the actuators 30 to provide forces toobject 34. The second branch starts with step 122, in which processor 26checks if a host command has been received from host computer 12 overbus 24. If so, the process continues to step 124, where a reflex processassociated with the host command is selected. Such reflex processes canbe stored local to microprocessor 26 in, for example, memory 27 such asRAM or ROM (or EPROM, EEPROM, etc.). Thus, the microprocessor mightselect a damping reflex process if the high level command indicated thatthe damping force from this reflex process should be applied to object34. The available reflex processes are preferably similar to thosedescribed above with reference to FIG. 4, and may include algorithms,stored force profiles or values, conditions, etc. In some embodiments,steps 118, 120, and 121 for reading sensor data can be incorporated inthe reflex processes for the microprocessor, so that sensor data is onlyread once a reflex process has been selected. Also, the host command mayin some instances simply be a low-level force command that provides aforce value to be sent to an actuator 30 (as in the embodiment of FIG.4), in which case a reflex process need not be selected.

After a reflex process has been selected in step 124, or if a new hostcommand has not been received in step 122, then step 126 is implemented,in which processor 26 determines a processor low-level force command(i.e. force value). The force value is derived from the reflex processand any other data required by the reflex process as well as commandparameters included in relevant host commands. As explained above, theneeded data can include sensor data and/or timing data from local clock29. Thus, if no new high level command was received in step 122, thenthe microprocessor 26 determines a force command according to the samereflex process that it was previously using in step 126. In addition,the host command can include other command parameter information neededto determine a force command. For example, the host command can indicatethe direction of a force along a degree of freedom.

In step 128, processor 26 outputs the determined processor force commandto actuators 30 to set the output force to the desired level. Beforesending out the force command, processor 26 can optionally convert theforce command to an appropriate form usable by actuator 30, or actuatorinterface 38 can perform such conversion. The process then returns tostep 122 to check if another host command has been received from thehost computer 12.

The actuator process of microprocessor 26 (steps 118, 120, 122, 124,126, and 128) thus operates to provide forces on object 34 independentlyof host computer 12 according to a selected reflex process and otherparameters. The reflex process determines how the processor forcecommand is to be determined based on the most recent sensor data read bymicroprocessor 26. Since a reflex process indicates how forces should beapplied depending on the position and other parameters of user object34, the processor can issue low-level force commands, freeing the hostcomputer to process the host application and determine only when a newtype of force needs to be output. This greatly improves communicationrates between host computer 12 and interface device 14.

In addition, the host computer 12 preferably has the ability to overridethe reflex operation of microprocessor 26 and directly providecalculated or other force values as described above with reference toFIG. 4. For example, the host command can simply indicate a force valueto be sent to an actuator 30. This override mode can also be implementedas a reflex process. For example, the microprocessor 26 can select areflex process that instructs it to relay low-level force commandsreceived from host computer 12 to an actuator 30.

FIG. 6 is a schematic diagram of an example of a user object 34 that iscoupled to a gimbal mechanism 140 for providing two or more rotarydegrees of freedom to object 34. Gimbal mechanism 140 can be coupled tointerface device 14 or be provided with sensors 28 and actuators 30separately from the other components of interface device 14. A gimbaldevice as shown in FIG. 6 is described in greater detail in co-pendingU.S. patent applications Ser. Nos. 08/374,288 and 08/400,233, filed onJan. 18, 1995 and Mar. 3, 1995, respectively, and hereby incorporated byreference herein.

Gimbal mechanism 140 can be supported by a grounded surface 142, whichcan be a surface of the housing of interface device 14, for example(schematically shown as part of member 144). Gimbal mechanism 140 ispreferably a five-member linkage that includes a ground member 144,extension members 146 a and 146 b, and central members 148 a and 148 b.Ground member 144 is coupled to a base or surface which providesstability for mechanism 140. The members of gimbal mechanism 140 arerotatably coupled to one another through the use of bearings or pivots,wherein extension member 146 a is rotatably coupled to ground member 144and can rotate about an axis A, central member 148 a is rotatablycoupled to extension member 146 a and can rotate about a floating axisD, extension member 146 b is rotatably coupled to ground member 144 andcan rotate about axis B, central member 148 b is rotatably coupled toextension member 146 b and can rotate about floating axis E, and centralmember 148 a is rotatably coupled to central member 148 b at a centerpoint P at the intersection of axes D and E. The axes D and E are“floating” in the sense that they are not fixed in one position as areaxes A and B. Axes A and B are substantially mutually perpendicular.

Gimbal mechanism 140 is formed as a five member closed chain. Each endof one member is coupled to the end of a another member. The five-memberlinkage is arranged such that extension member 146 a, central member 148a, and central member 148 b can be rotated about axis A in a firstdegree of freedom. The linkage is also arranged such that extensionmember 146 b, central member 148 b, and central member 148 a can berotated about axis B in a second degree of freedom.

User object 34 is a physical object that can be coupled to a linear axismember 150, or linear axis member 150 can be considered part of object34. Linear member 150 is coupled to central member 148 a and centralmember 148 b at the point of intersection P of axes D and E. Linear axismember 150 is coupled to gimbal mechanism 140 such that it extends outof the plane defined by axis D and axis E. Linear axis member 150 can berotated about axis A (and E) by rotating extension member 146 a, centralmember 148 a, and central member 148 b in a first revolute degree offreedom, shown as arrow line 151. Member 150 can also be rotated aboutaxis B (and D) by rotating extension member 50 b and the two centralmembers about axis B in a second revolute degree of freedom, shown byarrow line 152. In alternate embodiments, linear axis member is alsotranslatably coupled to the ends of central members 148 a and 148 b, andthus can be linearly moved along floating axis C, providing a thirddegree of freedom as shown by arrows 153. Axis C can, of course, berotated about one or both axes A and B as member 150 is rotated aboutthese axes. In addition, linear axis member 150 in some embodiments canrotated about axis C, as indicated by arrow 155, to provide anadditional degree of freedom. These additional degrees of freedom canalso be provided with sensors and actuators to allow processor 26/hostcomputer 12 to read the position/motion of object 34 and apply forces inthose degrees of freedom.

Sensors 28 and actuators 30 can be coupled to gimbal mechanism 140 atthe link points between members of the apparatus and provide input toand output as described above. Sensors and actuators can be coupled toextension members 146 a and 146 b, for example.

User object 34 is coupled to mechanism 140. User object 44 may be movedin both (or all three or four) degrees of freedom provided by gimbalmechanism 140 and linear axis member 150. As object 34 is moved aboutaxis A, floating axis D varies its position, and as object 34 is movedabout axis B, floating axis E varies its position.

FIG. 7 is a perspective view of a specific embodiment of an apparatus160 including gimbal mechanism 140 and other components of interfacedevice 14 for providing mechanical input and output to host computersystem 12. Apparatus 160 includes gimbal mechanism 140, sensors 141 andactuators 143. User object 34 is shown in this embodiment as a joystickhaving a grip portion 162 and is coupled to central member 148 a.Apparatus 160 operates in substantially the same fashion as gimbalmechanism 140 described with reference to FIG. 6.

Gimbal mechanism 140 provides support for apparatus 160 on groundedsurface 142, such as a table top or similar surface. The members andjoints (“bearings”) of gimbal mechanism 140 are preferably made of alightweight, rigid, stiff metal, such as aluminum, but can also be madeof other rigid materials such as other metals, plastic, etc. Gimbalmechanism 140 includes ground member 144, capstan drive mechanisms 164,extension members 146 a and 146 b, central drive member 148 a, andcentral link member 148 b. Ground member 144 includes a base member 166and vertical support members 168. Base member 166 is coupled to groundedsurface 142. A vertical support member 168 is coupled to each of theseouter surfaces of base member 166 such that vertical members 168 are insubstantially 90-degree relation with each other.

A capstan drive mechanism 164 is preferably coupled to each verticalmember 168. Capstan drive mechanisms 164 are included in gimbalmechanism 140 to provide mechanical advantage without introducingfriction and backlash to the system. The capstan drive mechanisms 164are described in greater detail in co-pending U.S. patent applicationSer. No. 08/400,233.

Extension member 146 a is rigidly coupled to a capstan drum 170 and isrotated about axis A as capstan drum 170 is rotated. Likewise, extensionmember 146 b is rigidly coupled to the other capstan drum 170 and can berotated about axis B. Central drive member 148 a is rotatably coupled toextension member 146 a, and central link member 148 b is rotatablycoupled to an end of extension member 146 b. Central drive member 148 aand central link member 148 b are rotatably coupled to each other at thecenter of rotation of the gimbal mechanism, which is the point ofintersection P of axes A and B. Bearing 172 connects the two centralmembers 148 a and 148 b together at the intersection point P.

Gimbal mechanism 140 provides two degrees of freedom to an object 34positioned at or near to the center point P of rotation. An object at orcoupled to point P can be rotated about axis A and B or have acombination of rotational movement about these axes. In alternateembodiments, object 34 can also be rotated or translated in otherdegrees of freedom, such as a linear degree of freedom along axis C or arotary degree of freedom about axis C.

Sensors 141 and actuators 143 are preferably coupled to gimbal mechanism140 to provide input and output signals between apparatus 160 andmicroprocessor 26. In the described embodiment, sensors 141 andactuators 143 are combined in the same housing as grounded transducers174. Preferably, transducers 174 a and 174 b are bi-directionaltransducers having optical encoder sensors 141 and active DC servomotors 143. Passive actuators can also be used. The housing of eachgrounded transducer 174 a is preferably coupled to a vertical supportmember 168 and preferably includes both an actuator 143 for providingforce in or otherwise influencing the first revolute degree of freedomabout axis A and a sensor 141 for measuring the position of object 34 inor otherwise influenced by the first degree of freedom about axis A. Arotational shaft of actuator 174 a is coupled to a pulley of capstandrive mechanism 164 to transmit input and output along the first degreeof freedom. Grounded transducer 174 b preferably corresponds to groundedtransducer 174 a in function and operation. Transducer 174 b is coupledto the other vertical support member 168 and is an actuator/sensor whichinfluences or is influenced by the second revolute degree of freedomabout axis B.

The transducers 174 a and 174 b of the described embodiment areadvantageously positioned to provide a very low amount of inertia to theuser handling object 34. Transducer 174 a and transducer 174 b aredecoupled, meaning that the transducers are both directly coupled toground member 144 which is coupled to ground surface 142, i.e. theground surface carries the weight of the transducers, not the userhandling object 34. The weights and inertia of the transducers 174 a and174 b are thus substantially negligible to a user handling and movingobject 34. This provides a more realistic interface to a virtual realitysystem, since the computer can control the transducers to providesubstantially all of the forces felt by the user in these degrees ofmotion. Apparatus 160 is a high bandwidth force feedback system, meaningthat high frequency signals can be used to control transducers 174 andthese high frequency signals will be applied to the user object withhigh precision, accuracy, and dependability. The user feels very littlecompliance or “mushiness” when handling object 34 due to the highbandwidth. In contrast, in typical prior art arrangements ofmulti-degree of freedom interfaces, one actuator “rides” upon anotheractuator in a serial chain of links and actuators. This low bandwidtharrangement causes the user to feel the inertia of coupled actuatorswhen manipulating an object.

Object 34 is shown in FIG. 3 as a joystick having a grip portion 126 forthe user to grasp. A user can move the joystick about axes A and B. Themovements in these two degrees of freedom are sensed by processor 26 andhost computer system 12. Forces can be applied preferably in the twodegrees of freedom to simulate various haptic sensations. Optionally,other objects 34 can be coupled to gimbal mechanism 140, as describedabove. For example, medical instruments, such as laparoscopic tools orcatheters, can be used to simulate medical procedures. A laparoscopictool sensor and force feedback device is described in U.S. patentapplication Ser. No. 08/275,120, filed Jul. 14, 1994 and entitled“Method and Apparatus for Providing Mechanical I/O for Computer Systems”assigned to the assignee of the present invention and incorporatedherein by reference in its entirety.

FIG. 8 is a perspective view of a different embodiment of object 34 andsupporting mechanism 180 that can be used in conjunction with interfacedevice 14. Mechanism 180 includes a slotted yoke configuration for usewith joystick controllers that is well-known to those skilled in theart. Mechanism 180 includes slotted yoke 182 a, slotted yoke 182 b,sensors 184 a and 184 b, bearings 186 a and 186 b, actuators 188 a and188 b, and joystick 34. Slotted yoke 182 a is rigidly coupled to shaft189 a that extends through and is rigidly coupled to sensor 184 a at oneend of the yoke. Slotted yoke 182 a is similarly coupled to shaft 189 cand bearing 186 a at the other end of the yoke. Slotted yoke 182 a isrotatable about axis L and this movement is detected by sensor 184 a.Actuator 188 a can be an active or passive actuator. In alternateembodiments, bearing 186 a and be implemented as another sensor likesensor 184 a.

Similarly, slotted yoke 182 b is rigidly coupled to shaft 189 b andsensor 184 b at one end and shaft 189 d and bearing 186 b at the otherend. Yoke 182 b can rotated about axis M and this movement can bedetected by sensor 184 b.

Object 34 is a joystick that is pivotally attached to ground surface 190at one end 192 so that the other end 194 typically can move in four90-degree directions above surface 190 in two degrees of freedom (andadditional directions in other embodiments). Joystick 34 extends throughslots 196 and 198 in yokes 182 a and 182 b, respectively. Thus, asjoystick 34 is moved in any direction, yokes 182 a and 182 b follow thejoystick and rotate about axes L and M. Sensors 184 a-d detect thisrotation and can thus track the motion of joystick 34. Actuators 188 aand 188 b allow the user to experience force feedback when handlingjoystick 34. Alternatively, other types of objects 34 can be used inplace of the joystick, or additional objects can be coupled to thejoystick. In yet other embodiments, additional degrees of freedom can beprovided to joystick 34. For example, the joystick can be provided witha rotary degree of freedom about axis K, as indicated by arrow 193.Sensors and/or actuators can also be included for such additionaldegrees of freedom.

In alternate embodiments, actuators can be coupled to shafts 189 c and189 d to provide additional force to joystick 34. Actuator 188 a and anactuator coupled to shaft 189 c can be controlled simultaneously bymicroprocessor 26 or host computer 12 to apply or release force frombail 182 a. Similarly, actuator 188 b and an actuator coupled to shaft189 d can be controlled simultaneously.

Other embodiments of interface apparatuses and transducers can also beused in interface device 14 to provide mechanical input/output for userobject 34. For example, interface apparatuses which provide one to three(or more) linear degrees of freedom to user object 34 can be used. Inaddition, passive actuators having an amount of “play” can be providedto implement different reflex processes. Other embodiments of actuatorsand interfaces are described in U.S. Pat. No. 5,767,839, filed Mar. 3,1995, entitled “Method and Apparatus for Providing Passive ForceFeedback to Human-Computer Interface Systems”, and U.S. Pat. No.5,721,566, filed Jun. 9, 1995, entitled “Method and Apparatus forProviding Passive Fluid Force Feedback”, both hereby incorporated byreference herein.

FIG. 9 is a table 300 showing a number of preferred host commands thatcan be used in the embodiment of FIG. 5, where host computer 12 sendshigh level host commands to local microprocessor 26, which implementslocal reflex processes or reflex processes in accordance with the hostcommands. As discussed previously, low communication rates on bus 24(FIG. 1) can impede performance, specifically the accuracy and realism,of force feedback. The local microprocessor can implement reflexprocesses based on host commands independently of the host computer,thus requiring less signals to be communicated over bus 24. Preferably,a communication language or force feedback protocol should bestandardized for the transfer of host commands from the host processor16 to the local processor 26. Ideally, as discussed with reference toFIG. 5, the format will permit the efficient transmission of high levelsupervisory commands (host commands) to local processor 26 as in step114 of FIG. 5. By providing a relatively small set of commands andcommand parameters which are translated into a panoply of forces, theformat further shifts the computational burden from the host computer tothe local microprocessor 26. In addition, a programmer or developer offorce feedback application software for host computer 12 is providedwith a high level, standard, efficient force feedback command protocol.

In one embodiment, the host command is permitted to include commandparameters generic to a wide variety of force models implemented by themicroprocessor 26 to control the actuators 30. For instance, forcemagnitude and force direction are two generic command parameters. Forceduration, or force model application time, is another generic commandparameter. It may also be advantageous to further define a commandparameter for other input device 39, such as a button. The button, whenactivated, can trigger different forces or force models.

A preferred embodiment contains two primary modes or “control paradigms”of operation for force feedback interface device 14: rate control andposition control. These modes imply a classification scheme for hostcommands parametrized by the command parameters. While the differencebetween rate control and position control is generally subtle to theuser while he or she interacts with an application, the difference maybe profound when representing force feedback information. While certainforce feedback entities may be implemented under both control modes,classifying the force feedback commands into two sets can help to avoidconfusion among programmers. Some of the commands can be used as eitherrate control or position control commands.

Exemplary force feedback commands in accordance with the presentinvention will be described below. The rate control force feedbackcommands will be discussed first, followed by the position controlcommands. Of course, other force feedback commands may be constructed inaddition to, or as alternatives to, the following sample force feedbackcommands.

Rate control refers to a user object mapping in which the displacementof the user object 34 along one or more provided degrees of freedom isabstractly mapped to motion of a computer-simulated entity undercontrol, such as an airplane, race car, or other simulated “player” orplayer-controlled graphical object. Rate control is an abstraction whichmakes force feedback less intuitive because there is not a directphysical mapping between object motion and commanded motion of thesimulated computer entity. Nevertheless, many interesting force feedbacksensations can be implemented within rate control paradigms. Incontrast, position control refers to a user object mapping in whichdisplacement of the joystick handle or other user manipulable objectdirectly dictates displacement of a simulated computer entity, so thatthe fundamental relation between joystick displacements and computerdisplacements is present. Thus, most rate control paradigms arefundamentally different from position control in that the user object(joystick) can be held steady at a given position but the simulatedentity under control is in motion at a given commanded velocity, whilethe position control paradigm only allows the entity under control to bein motion if the user object is in motion. Position control hostcommands are described in greater detail below with respect to FIG. 14,while rate control commands are described presently with reference toFIG. 9.

For example, a common form of rate control is a velocity derivedabstraction in which displacement of the user object, such as a joystickhandle, dictates a velocity of the simulated computer entity, such as avehicle or other graphical object displayed on display screen 20, in asimulated environment. The greater the joystick handle is moved from theoriginal position, the greater the velocity of the controlled vehicle orplayer-controlled graphical object. Such control paradigms are verypopular in computer games where velocity of a spacecraft or race car isdictated by the displacement of the joystick. Like most rate controlparadigms, velocity control allows the joystick to be held steady at agiven position while the entity under control is in motion at a givencommanded velocity. Other common rate control paradigms used in computergames are acceleration controlled. An acceleration controlled paradigmis termed “thrust” control by those skilled in the art. While velocitycontrol dictates the speed of the entity under control, thrust controldictates the rate of change of speed. Under thrust control, the joystickcan be still and centered at zero displacement, yet the commandedcomputer entity can be in motion.

In force feedback schemes, rate control force feedback commands roughlycorrespond to forces which would be exerted on a vehicle or othersimulated entity controlled by the simulated environment through theforce feedback interface device 14. Such forces are termedvehicle-centric forces. For example, in a thrust control paradigm, auser's simulated speed boat may move into thick mud, but the user wouldnot directly feel the mud. However, the user would feel the speed boat'sengine straining against a force opposing the boat's motion. Theseopposing forces are relayed to the user through interface device 14.Other simulated characteristics or objects in the simulated environmentcan have an effect on the player-controlled simulated entity and thusaffect the forces output to the user.

Herein, rate control commands are divided into “conditions” and“overlays,” although other classifications may be used in alternateembodiments. Conditions set up a basic physical model or backgroundsensations about the user object including simulated stiffness,simulated damping, simulated inertias, deadbands where simulated forcesdiminish, and directional constraints dictating the physical model'sfunctionality. Multiple conditions may be specified in a single commandto effectively superpose condition forces. Overlays, in contrast, areforces that may be applied in addition to the conditions in thebackground. Any number of overlays can preferably be provided inaddition to condition forces. A condition can be specified by onecondition command or by multiple condition commands.

Descriptions will now be provided for several types of forces 302, asreferenced in table 300, that can be implemented by microprocessor 26from host commands. These forces include: restoring force, restoringspring, vector force, vibration, sluggish stick, wobble, unstable,button reflex jolt, and ratchet force. The restoring force, restoringspring, sluggish stick, and unstable forces are considered conditionforces. The vector force, vibration, wobble, button reflex jolt, andratchet forces are considered overlay forces.

The forces 302 shown in table 300 can be implemented with host commandsprovided by host computer 12 to microprocessor 26. Examples 304 of hostcommands and their syntax are shown in table 300 for each type of force302. In the described embodiment, host commands 304 preferably include acommand portion 306 and a number of command parameters 308. Commands 304indicate the type of force which the host computer 12 is instructing theprocessor 26 to implement. This command portion may have a correspondingreflex process which the processor 26 can retrieve from memory 27 andimplement; this process is described in greater detail below. Commandportions 306 can be specified in virtually any form in otherembodiments; in table 300, a command is typically provided in ahigh-level form, close to English, so that the type of force which thecommand implements can be easily recognized by a programmer or softwaredeveloper.

Command parameters 304 are values or indicators provided by the hostcomputer 12 which customize and/or modify the type of force indicated bycommand portion 304. Many of the commands use magnitude, duration, ordirection command parameters. Some commands include a style parameterwhich often modifies a force's direction. Other particular commandparameters are provided for specific forces, as described in detailbelow.

For the following preferred rate control embodiments, most of thecommand parameters control different forces in the same way. Themagnitude parameter is a percentage of a maximum magnitude correspondingto a maximum force able to be output by actuators 30. The durationparameter usually corresponds to a time interval for applying theparticular force model. However, it is sometimes set to a predeterminedvalue, such as zero or −1, to extend indefinitely the force model'sapplication time. The force model would thus remains in effect until thehost computer 12 provides a new host command with a new force or sends aclear command. The style parameter may select a direction in which toapply the force model, and/or a degree of freedom along which to applythe force model. For example, valid directions usually include one of acommon joystick's two axes or a diagonal specified as a combination ofthe two. Of course, the style parameter could specify the forceapplication along any degree of freedom or combination of degrees offreedom. Alternatively, separate force commands could be used for eachdegree of freedom or force commands. The style parameter can varydepending on the particular force model commanded, as described below.

Although not listed in FIG. 9, all of the described types of forces 302can have additional parameters or incorporate other properties into thelisted parameters. A “deadband” parameter could specify a size of aregion where a force would be small or zero. A parameter can be includedindicating whether a force is bi-directional or uni-directional along adegree of freedom. Note that uni-directional forces can have either apositive or negative sense. For some host commands, the deadband andbi-directional/uni-directional parameter can be included in the styleparameter.

Subclass 310 indicates a classification of the types of forces 302.Forces 302 are shown as either conditions or overlays, as explainedabove. The condition commands are described below before the overlaycommands.

FIGS. 10a-c are graphs illustrating force versus displacement profilesfor a restoring force. The force in graph 312 of FIG. 10a isbi-directional, where the force on the right side of the vertical axisis applied in one direction along a degree of freedom, and the force onthe left side of the vertical axis is applied in the opposite directionalong that degree of freedom. The force shown in graph 314 of FIG. 10bis uni-directional. Preferably, whether the force is uni-directional orbi-directional is specified with, for example, the style parameter 308of the command 306 shown in table 300 of FIG. 8 (and, if uni-direction,a positive or negative sense to indicate the particular direction). Inaddition, the desired degrees of freedom along which the restoring forceis to be applied are also preferably specified in the style parameter.For example, an “X” parameter could indicate the “X” degree of freedom,while an “XY” parameter can indicate a restoring force along both X andY degrees of freedom (e.g., a diagonal restoring force).

A restoring force applied to user object 34 always points back towardsan origin position O (or “neutral position”) of the user object along adegree of freedom. For example, the origin position for a joystick canbe the joystick's center position, as shown in FIGS. 7 and 8. Themagnitude of restoring force, specified by the magnitude commandparameter, generally remains constant in either direction for the range316 along the degree of freedom of the user object. The maximum forcemagnitude F is preferably limited to about 75% of the maximum possibleoutput force in a the selected degree of freedom, so that jolts andvibrations can be overlaid on top of the restoring sensation (describedbelow). As the object is moved toward the origin position O, the appliedforce is constant until the user object is moved within a localizedregion R about the origin position. When the user object is in thelocalized region R, the applied force rapidly drops to zero or a smallvalue. Thus, the restoring force profile provides a constant “restoringsensation” that forces the user object back to the origin position whenthe object is in range 316. This restoring forces then diminishes orvanishes as the object nears and reaches the origin position. Therestoring force's direction can be automatically controlled by the localmicroprocessor 26.

In FIG. 10c, the restoring force is shown similarly to the force in FIG.10a, except that the applied force is about zero in an extended region318, about the origin position. Region 318 is known as a “deadband”, andallows the user to have some freedom to move object 34 for a shortdistance around the origin before forces are applied. The specificationof deadband 318 for an applied restoring force can be a value included,for example, as a separate deadband command parameter, or,alternatively, as part of the style parameters 308 of the restoringforce host command.

A restoring force sensation can be very ably applied in a rate controlparadigm to the situation of hitting a wall or some other obstructionwhile controlling a simulated vehicle. The restoring force indicates aresistance against commanding a velocity in a direction of motion. Thisforce drops off when the user object is returned to the origin positionbecause the user is no longer commanding a velocity in the direction ofmotion. If there is no obstruction in the reverse direction, therestoring force would be unidirectional.

FIGS. 11a-11 c are graphs illustrating force versus displacementprofiles for a restoring spring force. Rather than maintaining aconstant magnitude over its positive or negative displacement, asprovided by the restoring force of FIGS. 10a-10 c, a restoring springforce varies linearly over an appreciable portion of the user object'sdisplacement, and is proportional to the object 34's distance from theorigin position O. A restoring spring force applied to the user objectalways points back towards the neutral position along a degree offreedom. In FIGS. 11a-11 c the restoring spring force reaches itsmaximum at maximum displacement of object 34 from the origin position O.Graph 320 of FIG. 11a shows the bi-directional case, and graph 322 ofFIG. 11b shows the uni-directional case. A deadband specified by adeadband parameter is provided about the origin position, as shown ingraph 324 of FIG. 11c.

The parameters for the restoring spring force can, for example, besubstantially similar to the parameters for the restoring force asdescribed above. Alternatively, instead of a magnitude parameter, therestoring spring force can have a spring coefficient parameter todescribe a desired “stiffness” of the object 34. The spring coefficientparameter can be used in well known equations to calculate the force onthe user object. Either the coefficient or magnitude parameter may beused.

The sluggish force creates a damping force on user object 34 having amagnitude proportional to the velocity of the user object when moved bythe user. An example of this type of damping force is described abovewith respect to step 82 of FIG. 4. The degree of “viscosity” of thesluggish force can be specified by a viscous damping coefficientincluded as a command parameter in the host command. Since the sluggishstick force depends directly upon velocity, the coefficient commandparameter can be expressed as a percentage of a maximum dampingcoefficient, and replaces the magnitude parameter of previouslydiscussed host commands. The style command parameter for the sluggishhost command can include the specified degrees of freedom to apply thesluggish force, as well as a uni-directional or bi-directionalindication. The sluggish stick force is particularly suited for ratecontrol applications to simulate controlling, for example, a very heavyvehicle that is poorly responsive to the movement of the user object.

The unstable force creates an inverted pendulum style instability.Alternatively, the unstable force is modelled on a spring having anegative spring constant (an unstable or diverging spring). A force isapplied to the user object in a direction away from the object's originposition and is increased as the user object is moved further away fromthe origin position. This creates a force that makes it difficult forthe user to bring the object to the origin position. The commandparameters for an unstable host command can include similar parametersto the restoring forces described above; for example, a commandparameter indicating the percentage of maximum degree of “instability”can be provided, where the instability can be defined in terms of amaximum output force. This force can be used as another vehicle-relatedsensation, and could replace a restoring spring force when, for example,a simulated vehicle guidance control is damaged. The instability wouldtypically make a computer game very hard to play.

In alternative embodiments, the condition forces described above can becommanded using only one host command with a number of parameters tocontrol the characteristics of the condition forces. For example, a hostcommand such as

COND_(—) X(K+, K−, DB, B+, B−, N_Offset, Sat+, Sat−,m)

can be sent to microprocessor 26 from host computer 12. This commandspecifies certain physical parameters of a model of the user object inone degree of freedom. The K parameters indicate a proportionalstiffness for displacements of the user object in two directions along adegree of freedom. The DB parameter indicates the deadband range as apercentage of a maximum allowed deadband distance. The B parametersindicate a velocity proportional damping for the velocity of the userobject in two directions along a degree of freedom. The N_offsetparameter can be specified as the offset from the modeled neutralposition of the springs (defined by the K parameters). The Satparameters indicate the maximum (saturation) allowed force value fordisplacements of the user object, expressed, for example, as apercentage of the maximum possible force. The m parameter indicates asimulated mass of the user object which can be applied in the physicalmodel for computing gravitational or inertial forces on the user object,for example. A condition command as provided above can be used for eachprovided degree of freedom of user object 34; for example, COND_X canprovide the condition forces in the degree of freedom about the x-axis.The command can implement the restoring force, restoring spring force,sluggish force, and unstable force by adjusting the various commandparameters.

The condition commands can be provided in the background while overlaycommands are applied in addition to or “over” the condition forces. Forexample, a sluggish damping force can be provided as a background forceto the user object, and a “jolt” overlay force can be commanded over thesluggish force to provide a quick, jerky motion on the user object for afew seconds. Of course, overlay forces may also be applied exclusivelywhen no other forces are being applied, or may cancel otherpreviously-commanded forces if desired. The example overlay forces shownin FIG. 9 are described below.

FIG. 12 is a graph 326 illustrating a vector force model. A vector forceis an overlay command, and thus can be applied in addition to thecondition forces described above. It is a general force applied to thejoystick in a given direction specified by a direction commandparameter. The direction command parameter can be provided, for example,as an angle in the X-Y plane for a two-degree-of-freedom interfaceapparatus. As for many of the condition force commands, the magnitude ofthe vector force can be specified as a percentage of a maximummagnitude. FIG. 12 shows a two-dimensional representation of the vectorforce in an example direction in the X-Y plane of a user object havingtwo degrees of freedom.

FIGS. 13a- 13 b are graphs illustrating force versus time profiles for avibration force. FIG. 13a is a graph 328 showing a bi-directionalvibration force while FIG. 13b is a graph 330 showing a uni-directionalvibration force. The vibration command shown in FIG. 9 acceptsmagnitude, frequency, style, direction, and duration command parameters.The frequency parameter can be implemented as a percentage of a maximumfrequency and is inversely proportional to a time interval of oneperiod, T_(P). The direction command parameter can be implemented as anangle, as described above with reference to FIG. 12. The style parametercan indicate whether the vibration force is uni-directional orbi-directional. In addition, a duty cycle parameter can be provided inalternate embodiments indicating the percentage of a time period thatthe vibration force is applied. Also, a command parameter can beincluded to designate the “shape” or profile of the vibration waveformin the time axis, where one of a predetermined number of shapes can beselected. For example, the force might be specified as a sinusoidalforce, a sawtooth-shaped force, a square waveform force, etc.

A wobble force paradigm is another overlay force that can be commandedby host computer 12. This force creates a random (or seemingly random tothe user), off-balance force sensation on the user object. For example,it can simulate an erratic control for a damaged vehicle. The magnitude,duration, and style command parameters can be similar to parameters forthe above host commands. The style parameter might also specify a typeof wobble force from a predetermined list of different types. The wobbleforce can be implemented using a variety of methods. For example, apreprogrammed “force profile” stored in memory can be implemented tocause a force sensation that seems random. Or, an equation can be usedto calculate a force based on a sine wave or other function or a randomresult.

The jolt force is typically a short, high magnitude force that is outputon the user object, and can be used, for example, to notify the user ofan event or simulated object in the computer environment. The jolt forcecan be used as an overlay force which can be felt in addition to anycondition forces in effect. Typical parameters include the magnitude ofthe force of the jolt, the duration of the jolt, and direction(s) ordegree(s) of freedom in which the jolt is applied, which can bespecified as an angle or particular degrees of freedom. The magnitudecommand parameter preferably specifies the magnitude of the jolt forcein addition to (above) any other condition or overlay force magnitudes,i.e., the magnitude is a differential magnitude “above” the steady stateforces. Thus, the actual magnitude output by actuators 30 may be greaterthan the jolt force magnitude.

The button force is not an actual force but may be used as a command totrigger other forces when an input device 39 is activated by the user.In many game situations, for example, it may be advantageous to triggera force as a direct response to pressing a button or other input device39 on the interface apparatus 14 rather than generating the force from ahost command after processing the pressed button on the host computer12. The other forces triggered by the pressing of the button can bespecified as a command parameter in the button command; alternatively, aspecific button command can be provided for each type of force.

For example, a common force to use in conjunction with a button commandis the jolt force. A specific command, e.g., BUTTON_JOLT, can beprovided to cause a jolt force whenever a specified button is pressed,and which includes button and jolt command parameters. Alternatively, abutton command with a JOLT command parameter may be implemented. Whenthe button jolt command is received by microprocessor 26, themicroprocessor can run a button check as a background process untilcommanded to terminate the button background process. Thus, when themicroprocessor 26 determines that the user has pressed a button from thesensor data, the jolt force can be overlaid on any existing forces thatare output.

The button command sets up the microprocessor 26 to output a force whenthe other input device 39 has been activated. The button command mayaccept a number of command parameters including, for example, button andautofire frequency parameters (in addition to any command parametersspecific to the desired force to be output when the button is pressed).The button parameter selects the particular button(s) which themicroprocessor 26 will check to be activated by the user and which willprovide the desired forces. For example, a joystick may have multiplebuttons, and the software developer may want to provide a force onlywhen a particular one of those buttons is pressed. A duration parametercan determine how long the jolt lasts after the button is pressed. The“autofire” frequency parameter designates the frequency of a repeatingforce when the user holds down a button. For example, if the user holdsdown a particular button, the microprocessor can automatically repeat ajolt force after a predetermined time interval has passed after the userfirst pressed the button. The autofire parameter can also optionallydesignate whether the autofire feature is being used for a particularbutton and the desired time interval before the repeating forces areapplied.

Other rate control commands not shown in the table of FIG. 9 can also beimplemented. For example, if actuators 30 are passive actuators, a“ratchet” force can be provided by sending a ratchet command andappropriate command parameters. This command can simulate an obstructionwhich causes, for example, a user-controlled vehicle to strain in agiven degree of freedom. Thus, a force may be applied when the usermoves the joystick in one direction, then no force is applied when theuser moves the joystick in the opposite direction, and force is againapplied when the joystick is moved in the original direction. Thissimulates an obstruction force at any retraction point, like a ratchet.The style parameters for such a command can indicate a fixed obstructionor a ratchet-style obstruction.

This concludes the description of rate control commands and forcemodels.

FIG. 14 is a table 332 showing a number of preferred position controlhost commands that can be used in the embodiment of FIG. 5. Herein,“position control” refers to a mapping of a user object in whichdisplacement of the joystick handle or other user object directlydictates displacement of a computer-simulated entity or object. Themapping can have an arbitrary scale factor or even be non-linear, butthe fundamental relation between user object displacements and computerobject or entity displacements should be present. Under a positioncontrol mapping, the computer-controlled entity does not move unless theuser object is in motion; a static user object dictates static commandsto microprocessor 26 from host computer 12.

Position control is not a popular mapping for traditional computergames, but may be used in other applications such as medical proceduresimulations or graphical user interfaces. Position control is anintuitive and effective metaphor for force feedback interactions becauseit is a direct physical mapping rather than an abstract controlparadigm. In other words, because the user object experiences the samephysical manipulations as the entity being controlled within thecomputer, position control allows physical computer simulations to bedirectly reflected as realistic force feedback sensations. Examples ofposition control in computer environments might be controlling a paddlein a pong-style tennis game or controlling a cursor in a windows desktopenvironment.

Contrasted with rate control's vehicle-centric forces, position controlforce feedback roughly corresponds to forces which would be perceiveddirectly by the user. These are “user-centric” forces. For example, apaddle displayed on display screen 20 and directly controlled by a usermight move through simulated thick mud. Via the force feedback interfacedevice 14, the user would perceive the varying force associated withmovement through a viscous solution. Corresponding to the realisticphysical situation, the force varies with the speed of motion of thejoystick (and displayed paddle) and orientation of the paddle face.

Descriptions will now be provided for several types of position controlforces 334, as referenced in table 332, that can be implemented bymicroprocessor 26 from host commands. These forces include: vector,groove, divot, texture, barrier, field, paddle, and button reflex jolt.Many of the examples 336 of host commands corresponding to these forcesuse magnitude and style parameters as discussed with reference to therate control paradigms. As with the rate control commands, commandparameters of the same name generally have the same properties fordifferent host commands. However, the duration parameter is typicallynot used for position control commands as much as for rate controlcommands, since the duration of the position control forces aretypically applied depending on the current position of the user object.The position control force models thus generally remain in effect untilthe host computer 12 issues a new host force command or a clear command.In alternate embodiments, a duration parameter can be used.

Preferred parametrizations for described position control commands aresummarized in FIG. 14. All the forces listed below can includeadditional command parameters, such as deadband parameters, orincorporate other properties into the parameters listed in FIG. 14.Similar to the host commands shown in FIG. 9, host commands 336preferably include a command portion 338 and a number of commandparameters 340. Commands 336 indicate the type of force which the hostcomputer 12 is instructing the processor 26 to implement. This commandportion may have a corresponding reflex process which the processor 26can retrieve from memory 27 and implement. Command portions 338 can bespecified in virtually any form in other embodiments.

A vector force is a general force having a magnitude and direction.Refer to FIG. 12 for a polar representation of the vector force. Mostposition control sensations will be generated by theprogrammer/developer using a vector force command and appropriateinstructions and programming constructs. A duration parameter istypically not needed since the host 12 or microprocessor 26 canterminate or modify the force based on user object motions, not time.

FIG. 15 is a graph 342 showing a force versus displacement relationshipfor a groove force of the present invention. The groove force provides alinear detent sensation along a given degree of freedom, shown by ramps344. The user object feels like it is captured in a “groove” where thereis a restoring force along the degree of freedom to keep the stick inthe groove. This restoring force groove is centered about a centergroove position C located at the current location of the user objectwhen the host command was received. Alternatively, the location of thecenter groove position can be specified from a command parameter alongone or more degrees of freedom. Thus, if the user attempts to move theuser object out of the groove, a resisting force is applied.

The magnitude (stiffness) parameter specifies the amount of force orresistance applied. Optionally, a “snap-out” feature can be implementedwithin the groove reflex process where the groove forces turn off whenthe user object deviates from the groove by a given snap-out distance,shown as distance S. Thus, the microprocessor 26 would receive a groovecommand having a snap distance magnitude. When the microprocessordetects the user object moving outside this snap distance, it turns offthe groove forces. This snap-out feature can be implemented equally wellby the host computer 12 sending a clear command to turn off forces.Also, a deadband DB can also be provided to allow the user object tomove freely near the center groove position C, specified with a deadbandcommand parameter. A style command parameter indicates the orientationof the groove along one or more degrees of freedom (e.g., horizontal,vertical, diagonal). For example, horizontal and vertical grooves can beuseful to provide forces for scroll bars in windows. A user moving acursor in a graphical user interface can feel groove forces moving thecursor and user object toward the middle of the scroll bar. The deadbandgives the user room to move the cursor within the scroll bar region. Thesnap-out distance can be used to free the cursor/user object from forcesonce the cursor is moved out of the scroll bar region.

A divot is essentially two (or more) orthogonal grooves that providerestoring forces in more than one degree of freedom. This provides thesensation of a point detent along a given degree of freedom. If thedivot is provided in two degrees of freedom, for example, then the userobject feels as it if has been captured in a circular depression. Theuser object is captured at a point where there is a restoring forcealong both axes to keep the user object at the point. The snap-outfeature of the groove force can also be implemented for the divot. Inaddition, the deadband feature of the groove can be provided for thedivot command.

A texture force simulates a surface property, as described above withreference to FIG. 4. A texture is a spatially varying force (as opposedto vibration, a time varying force) that simulates the force felt, forexample, when a stick is moved over a grating. Other types of texturescan also be simulated. The user object has to be moved to feel thetexture forces, i.e., each “bump” of the grating has a specific positionin the degree of freedom. The texture force has several characteristicsthat can be specified by a programmer/developer using the host commandand command parameters. These command parameters preferably include amagnitude, a grit, and a style. The magnitude specifies the amount offorce applied to the user object at each “bump” of the grating. The gritis basically the spacing between each of the grating bumps. The stylecommand parameter can specify an orientation of the texture. Forexample, the style can specify a horizontal grating, a vertical grating,or a diagonal grating (or a superposition of these gratings).Furthermore, the style parameter can specify if the texture is feltbi-directionally or uni-directionally along a degree of freedom.Alternatively, additional command parameters can be provided to controlthe position of the “bumps” of the texture force. For example,information can be included to instruct the distance between bumps tovary exponentially over a distance, or vary according to a specifiedformula. Alternatively, the texture spacing could vary randomly. In yetother embodiments, the command parameters can specify one of severalavailable standard texture patterns that microprocessor 26 can retrievefrom memory.

A barrier force, when commanded, simulates a wall or other obstructionplaced at a location in user object space, and is described above withreference to FIG. 4. The host command can specify the hardness of thebarrier (magnitude of the force applied), the location of the barrieralong the degree of freedom, and the snap distance or thickness of thebarrier. Horizontal barriers and vertical barriers can be provided asseparate host commands, if desired. As indicated in graph 346 of FIG.16, a barrier force only has a finite thickness. The force increasessteeply as the user object is moved closer into the barrier (past pointB). The snap-through distance defines the size of the region where thebarrier is felt by the user. If the user object is moved into a barrier,and then is moved past the thickness of the barrier, the barrier forceis turned off. The barrier force can act as a hard obstruction, wherethe microprocessor provides maximum force magnitude to the user object34, or as a bump or softer barrier, where a smaller force magnitude isapplied (as specified by the magnitude command parameter). The barriercan remain for an extended period unless removed or moved to a newlocation. Multiple barriers can also be provided in succession along adegree of freedom.

Alternatively, the barrier force can be provided by sending a hostcommand having only two command parameters, hardness and location. Thehardness parameter can specify the height and slope of the resistiveforce. As shown in graph 348 of FIG. 16, the user object can move fromleft to right along the distance axis. The user object feels a resistiveforce when hitting the barrier at point B. After the user object hasbeen moved to point S (the snap-distance), the force is applied to theuser object in the opposite direction (a negative magnitude force),which decreases as the user object is moved in the same direction. Thissimulates a bump or hill, where the force is resistive until the userobject is moved to the top of the bump, where the force becomes anassisting force as the object is moved down the other side of the bump.

A force field type force attracts or repulses the user object withrespect to a specific position. This force can be defined by commandparameters such as a field magnitude and the specific field originposition which the force field is applied with respect to. A senseparameter can be included to indicate an attractive field or a repulsivefield. For example, the force field can be an attractive field tosimulate a force of gravity between the field origin position and auser-controlled cursor or graphical object. Although the field originposition can be thought of as a gravitational mass or an electriccharge, the attractive force need not depend on the inverse square ofdisplacement from the specific position; for example, the force candepend on an inverse of the displacement. The attractive force fieldalso attempts to maintain the user object at the field origin positiononce the user object has been moved to that position. A repulsive fieldoperates similarly except forces the user object away from a specifiedfield origin position. In addition, ranges can be specified asadditional command parameters to limit the effect of a force field to aparticular distance range about the field origin position.

FIGS. 17a- 17 i are diagrammatic illustrations of a “paddle” computerobject 350 interacting with a “ball” computer object or similar object352. These computer objects can be displayed on display screen 20 byhost computer 16. The force interactions between the ball and paddle canbe controlled by a software developer using a host command, as explainedbelow. In the described example, paddle object 350 is controlled by aplayer by a position control paradigm such that the movement of paddleobject 350 is directly mapped to movement of user object 34. Inalternate embodiments, ball object 352 or both objects can be controlledby players.

FIGS. 17a- 17 h show how paddle object 350 interacts with a moving ballobject 352 as ball object 352 collides with the paddle object. In FIG.17a, ball 352 first impacts paddle 350. Preferably, an initial force isapplied to user object 34 in the appropriate direction. In FIGS. 17b and17 c, ball 352 is moving into the compliant paddle or “sling”.Preferably, a simulated mass of ball 352 is felt by the user throughuser object 34 which is appropriate to the simulated velocity of theball, the simulated compliance of the paddle, and the strength/directionof simulated gravity. These parameters can preferably be set using ahost command with the appropriate parameters. For example, the followinghost command can be used:

PADDLE (B_mass, B_vel_(—) x, B_vel_(—) y, Gravity, Sense, Compliance_(—)X, Compliance_(—) Y)

where the command parameter B_mass indicates the simulated mass of theball, B_vel_x and B_vel_y are the velocity of the ball, gravity is thestrength of gravity, sense is the direction of gravity, and Compliance_Xand Compliance_Y are the simulated compliance or stiffness of the paddleobject 34. Other parameters can also be included to control otherphysical aspects of the computer environment and interaction of objects.

In FIG. 17d, the ball has reached a maximum flexibility point of paddle34 and can no longer move in the same direction. As shown in FIGS. 17ethrough 17 g, the ball is forced in the opposite direction due to thecompliance of the paddle. In addition, the user may preferably exertforce on user object 34 to direct the ball in a certain direction and toadd more velocity to the ball's movement. This allows the user a finedegree of control and allows a significant application of skill indirecting the ball in a desired direction. The force feedback paddle isthus an improved component of “pong” type and other similar video games.In addition, the paddle 350 can optionally flex in the oppositedirection as shown in FIG. 17h.

A schematic model of the forces interacting between ball 352 and paddle350 is shown in FIG. 17i. A spring force indicated by spring constant Kis provided in both degrees of freedom X and Y to indicate thespringiness of the paddle 350; g is a gravity direction. In addition, adamping force indicated by damping constant B is also provided to slowthe ball 352 down once it contacts paddle 350. The spring and dampingforces can also be applied in one degree of freedom.

The paddle control algorithm is a dynamic algorithm in whichmicroprocessor 26 computes interaction forces while a ball compressesthe paddle and then releases from the paddle. The paddle command is sentby host computer 12 when the ball contacts the paddle. The paddlecommand reports ball location to the host computer so that the host canupdate graphics displayed on display screen 20 during the interactionperiod. In presently preferred embodiments, the updates only need to beprovided at about 60 Hz to the host, since most displays 20 can onlydisplay at that rate. However, the forces should be computed and outputat about 500 Hz or more to provide a realistic “feel” to theinteraction. Thus the local microprocessor can compute the forcesquickly while occasionally reporting the sensor readings of the paddleto the host at a slower rate. Other types of video game or simulationinteractions can also be commanded with a high-level host command in asimilar fashion. This concludes the description of position controlparadigms.

In addition, a clear command is preferably available to the hostcomputer. This command can include a parameter specifying particulardegrees of freedom and allows the host computer to cancel all forces inthe specified degrees of freedom. This allows forces to be removedbefore other forces are applied if the programmer does not wish tosuperimpose the forces.

Also, a configuration host command can be provided. This command caninitially set up the interface device 14 to receive particularcommunication parameters and to specify which input and output will beused for a particular application, e.g. the host computer can instructlocal microprocessor 26 to report specific information to the hostcomputer and how often to report the information. For example, hostcomputer 12 can instruct microprocessor 26 to report position valuesfrom particular degrees of freedom, button states from particularbuttons of interface device 14, and to what degree to report errors thatoccur to the host computer. A “request information” command can also besent by host computer 12 to interface device 14 to receive informationstored on the interface device 14 at the time of manufacture, such asserial number, model number, style information, calibration parametersand information, resolution of sensor data, resolution of force control,range of motion along provided degrees of freedom, etc. This informationmay be necessary to the host computer so that the commands it outputs tothe local processor 26 can be adjusted and customized to the particulartype of interface device 14. If the USB communication interface is used,other information necessary to that interface can be provided to thehost upon a request command, such as vendor identification, deviceclass, and power management information.

In addition, the above described forces can be superimposed. The hostcomputer can send a new host command while a previous host command isstill in effect. This allows forces applied to the user object to becombined from different controlling commands. The microprocessor 26 orhost computer may prevent certain commands that have contradictoryeffects from being superimposed (such as a restoring force and arestoring spring). For example, the latest host command sent canoverride previous commands if those previous commands conflict with thenew command. Or, the conflicting commands can be assigned priorities andthe command with the highest priority overrides the other conflictingcommands.

It should be noted that the high-level host commands and commandparameters described above are merely examples for implementing theforces of the present invention. For example, command parameters thatare described separately can be combined into single parameters havingdifferent portions. Also, the distinct commands shown can be combined orseparated in different ways, as shown above with the example of thecondition command for providing multiple rate control condition forces.

In addition to common interface devices with one or two rectangular orspherical degrees of freedom, such as standard joysticks, otherinterface devices can be provided with three or more degrees of freedom.When the third degree of freedom is about an axis along the stickitself, those skilled in the art call it “spin” or “twist.” Each degreeof freedom of a user object can have its own dedicated high-level hostcommand. By independently associating high-level host commands to eachdegree of freedom, many possible combinations of position control, ratecontrol, and other abstract mappings can be implemented with interfacedevices.

For example, for a common joystick with two degrees of freedom, acomputer game might allow the joystick to control flight of aspacecraft. Forward-backward motion of the joystick handle mightimplement thrust control to dictate an acceleration of the spacecraft.Left-right motion of the joystick might implement direction control todictate an angular velocity of the spacecraft's trajectory. Thisparticular thrust-direction paradigm is particularly popular in currentgames, but there are many variations. For example, in a flightsimulator, the forward-backward motion of the joystick might control thepitch of an aircraft while the left-right motion might control roll ofthe aircraft. In a driving game, the forward-backward motion of thestick might be a rate control mapping to an acceleration of the car,while the left-right motion might be a position control mapping to alocation of the car across a span of road.

Multiple control paradigms may also be mixed in a single degree offreedom. For example, a joystick may have position control for smalldeviations from the origin in a degree of freedom and rate control forlarge deviations from the origin in the same degree of freedom. Such amixed control paradigm can be referred to as a local position/globalrate control paradigm.

FIG. 18 is a block diagram illustrating an example of a functionalmicroprocessor 26 implementation 380 of the present invention forprocessing the host commands and command parameters to output forces touser object 34. Implementation 380 is preferably provided on themicroprocessor 26 using instructions stored in memory 27. The use ofprogram instructions to perform operations on a microprocessor is wellknown to those skilled in the art, and can be stored on a “computerreadable medium.” Herein, such a medium includes by way of examplememory 27 such as RAM and ROM, magnetic disks, magnetic tape, opticallyreadable media such as CD ROMs, semiconductor memory such as PCMCIAcards, etc. In each case, the medium may take the form of a portableitem such as a small disk, diskette, cassette, etc., or it may take theform of a relatively larger or immobile item such as a hard disk drive.Preferably, various subprocesses 382, 384, 386, 387, and 388 run inparallel on microprocessor 26 to optimize responsiveness of the forcefeedback interface device 14. These processes are also referred to as“processors” herein. Various parameters and data are shared by thesubprocesses of implementation 380 in a preferred embodiment.

Throughout the following discussion of implementation 380, parametersets or parameter pages can be stored to speed computation andapplication of forces. Herein, parameter sets will be consideredsynonymous with parameter pages. Rather than reading, storing andapplying host commands and command parameters (and/or other parameters)as soon as the command is received, all or some of the commands andparameters defining a force environment may be stored and grouped intoparameter pages stored in memory 27. This force environment can describeparticular forces that may be quickly read from the parameter page. Whenthe appropriate force environment is required by the host computer, themicroprocessor can retrieve the parameter page from memory. As with pageswapping in video display systems, implementation 380 could then useactive pages for a current force environment and “hidden” pages forcommand/parameter sets under construction. In addition, preset orpredefined force environments can be retrieved, which are standardizedforce environments that are provided with interface device 14 or whichcan be loaded onto interface device 14 from the host computer. In thepreferred embodiment, a stored parameter page would include forceparameters and reporting parameters, which are internal microprocessorparameters that are derived from the host command and command parametersand which are discussed below.

Host communication and background process 382 maintains communicationbetween the microprocessor 26 and the host computer 12. Hostcommunication and background process 382 receives high-level hostcommands and command parameters from the host 12 and sends this data toa command process 384. Process 382 also receives sensor data from areporting process 387 described below. Process 382 directly relaysinformation received from process 387 to the host 12. Essentially,process 382 acts as a communication “switchboard” between themicroprocessor 26 and the host computer 12. Preferably, process 382 (orprocess 384) manages an input buffer on microprocessor 26 which is usedto buffer incoming commands and data from host computer 12. The inputbuffer is especially useful in embodiments including the USB interfaceand other interfaces with high communication rates.

The command process 384 processes incoming high-level host commands andcommand parameters from the host 12 and transmitted via the hostcommunication and background process 382. Based on the incomingcommands, the command process 384 sets reporting parameters and forcefeedback control parameters. These types of parameters are internalparameters of microprocessor 26 and are to be distinguished from thecommand parameters 308 included in a high-level host command sent by thehost. The internal parameters are derived from the command parametersand may, in some instances, be identical to the command parameters, asexplained below.

The reporting parameters are internal parameters that specify to themicroprocessor 26 which particular data and at what rate to report tohost computer 12. The reporting parameters can, for example, specifywhether to report positions or velocities of user object 34 forparticular degrees of freedom, a communication speed, or whether and inwhat way errors are reported. The reporting parameters are derived fromthe configuration commands received from the host computer 12 and areprovided to the status update process 386 and reporting process 387 sothat process 387 knows which information to report to the host computer12 via the host communication and background process 382.

Force feedback control parameters (“force parameters”) are internalparameters that are provided or updated by command process 384 and areused by force algorithm computation and actuator control process 388.The force parameters are derived from the command parameters 308included in the received host command. Command process 384 examines thecommand parameters and updates the internal force parameters so that theother processes 388 and 386 can access the most recent force parameters.This process of providing/updating force parameters implemented byprocess 384 is described below with reference to FIG. 19.

The status update process 386 receives reporting parameters from thecommand process 384. Based on the parameters received, process 386 readssensors 28 and clock 29 and stores sensor reading histories and timinghistories. Process 386 also can compute values, such as velocity oracceleration values, derived from sensor position data, the sensor datahistories, timing data, or combinations of this data. Herein, the term“sensor data” refers to both data received directly from the sensors(sensor readings) and/or values derived from the sensor readings,including histories of sensor data. “Timing data” or “time data” refersto specific values representing a period of time, including histories oftiming data. Periodically, reporting process 387 reads data provided andstored by process 386 (or process 386 could send the data to process 387directly). The sensor and timing data is also “sent” to a forcealgorithm computation and actuator control process 388. The term “sent”or “received” herein refers to one process providing data that anotherprocess eventually receives. The actual implementation to send andreceive data between processes can vary in different embodiments. Forexample, the sending process may store computed data in memory and thereceiving process can retrieve the data from memory at its own rate.

Reporting process 387 receives sensor data from status update process386 and reports this data to host computer 12 at appropriate times orupon receiving a request from the host 12 through background process382. Reporting parameters are sent to process 387 by command process384. In addition, general status and error information may be sent toreporting process 387 from force computation process 388. The processimplemented by reporting process 387 is described in greater detail withrespect to FIG. 21. In alternate embodiments, reporting process 387 canbe merged with background process 382, for example, if reporting data tothe host at a regular rate (in “stream” mode).

Force algorithm computation and actuator control process 388 uses forceparameters and sensor data from the command process 384 and the statusupdate process 386 to compute forces to be applied to user object 34.The force parameters are derived from command parameters thatcharacterize various force models, as described in detail above. Process388 computes a resultant force to be applied to actuators 30 bycombining effects of all force models in effect.

It should be emphasized that the processes 382, 384, 386, 387, and 388within the implementation 380 in FIG. 18 preferably run in parallel onthe microprocessor 26, e.g., using a multi-tasking environment. Runningall these processes sequentially would dramatically slow the forcefeedback response to user manipulation of the user object 34.

The implementation 380 shown in FIG. 18 is intended as an example of away to divide he various subprocesses of microprocessor 26 into logicaldivisions. In other embodiments, various other implementations can beprovided to join or separate some or all of the described functions ofmicroprocessor 26.

FIG. 19 is a flow diagram illustrating command process 382 of FIG. 18 ingreater detail beginning at 390. Initially, the host computer willestablish a communication link with interface device 14 in step 391.This can be accomplished by sending a predetermined signal orinformation which the interface device is waiting to receive. Theinterface device then can send an answer signal indicating it is readyto receive commands. If the USB communication interface is being used,the command process 382 preferably requests a USB address from the host,which the processor 382 then receives and stores. Whenever a data packetis then sent from the host, the command processor 384 can check theaddress of the data packet and compare it to the stored address todetermine if the packet is meant for the microprocessor 26.

In addition, if USB is being implemented, the command processor 384 cancheck for data in the USB communication protocol and reporting processor387 can send out data in this protocol. This protocol includes a tokenpacket, followed by a data packet, which is followed by a handshakepacket, as is well known to those skilled in the art. The host commandscan be encrypted in the data packets.

In next, step 392, host computer 12 may require the characteristics ofthe interface device 14 so that appropriate force feedback commandssuited to the particular interface device can be provided by the hostcomputer. These characteristics may include, for example, the serialnumber, model number, style, number of provided degrees of freedom ofuser object 34, calibration parameters, and reporting rate of theinterface device. Upon receiving a request for such information from thehost computer 12, such as a “request information” command, themicroprocessor 26 sends the information to the host computer 12 in step392. The host computer would normally request these characteristics onlyat power-up or at the start of force feedback implementation.

In next step 394, the microprocessor 26 receives configuration commandsfrom the host computer 12 and sets appropriate reporting parameters. Asmentioned above, the reporting parameters may determine whether suchinformation as sensor data, which includes sensor readings, valuescomputed from sensor readings, and/or sensor “histories” (i.e., a numberof previously recorded or computed sensor values), or clock time valuesare sent to the host computer 12 from the status update process 386. Thesensor data may include sensor error data, histories of data describingwhich buttons have been pressed on the interface device, positions,velocities, and/or accelerations of the user object, data from whichdegrees of freedom will be reported to the host computer, and whetherdata is reported to the host computer in a query or stream mode. Theseconfiguration options allow the programmer to set up which data the hostcomputer will receive from the local microprocessor. For example, if anapplication requires user object position data in only one of twoprovided degrees of freedom, then it is a waste of processing time forthe microprocessor to be sending information of the unused degree offreedom to the host computer. The programmer can set reportingparameters with configuration commands to send only the necessary datato the host computer.

In next step 396, the process checks if a host command has beenreceived. If not, step 396 loops continuously until a host command isreceived. Step 398 is then implemented, in which the process determineswhether the received command(s) is a configuration command. Aconfiguration command sets the reporting parameters, as described above.If the command is a configuration command, step 400 sets appropriatereporting parameters and/or resets the reporting parameters to provide anew configuration during the operation of the interface device. If step398 determines that the received command is not a configuration command,then step 398 has detected a force command which controls force feedbackfunctionality of the interface device 14. Force commands include thosehost commands that provide command parameters that affect the internalforce parameters (e.g., the host commands shown in FIGS. 9 and 14).

In step 402, the force commands and command parameters set forceparameters, such as those related to implementing a particular forceparadigm or model specified by the force command. Process 388 accessesthese force parameters in memory to apply forces using actuators 30, asdescribed with reference to FIG. 22. As an example, the force commandand force parameters may designate particular buttons on the interfacedevice 14 and assign a jolt force model to each designated button. If auser then presses a designated button, the jolt assigned to the pressedbutton would in turn be activated using whatever force parameters arecurrently in memory. An example of force parameters is described belowwith reference to FIG. 23. After setting the force parameters, step 402then transfers control back to step 396 to wait to receive another hostcommand.

In addition, in the preferred embodiment, process 384 also is regularlychecking/receiving for a “heartbeat” signal from host computer 12 aftera predetermined time interval. This signal would be a safety check toindicate that the host computer is still connected to interface device14 and that the host has an “OK” status. If no heartbeat signal isreceived within the time interval, the interface device 14 candeactivate and wait for an initialization command from the host. The“heartbeat” signal can be a normal signal or host command, or it can bea signal specifically used as a heartbeat signal that the host computercan send if no other signals have been sent within the time interval.After a signal has been received in step 396, process 384 preferablystores the time that the signal was received in a particular memorylocation. Process 388 can examine this time to determine if the intervalhas been exceeded (described below).

FIG. 20 is a flow diagram illustrating status update process 386 of FIG.18, beginning at a step 410. In step 412, the process 386 examinesreporting and force parameters set by the command process 384.Preferably, process 386 examines the reporting and state parameters inmemory 17 which have been updated by command process 384. From both thereporting and force parameters, step 414 determines which sensors willbe read. The force parameters determine which sensor data is necessaryfor the process 388 to compute a force. For example, if the forceparameters determine that a force needs to be calculated about thex-axis and not the y-axis, then the sensor data from the y-axis sensorsis not needed to computer forces. The reporting parameters determinedwhich sensor data to report to the host computer. Thus, the reportingparameters may also specify that y-axis sensor data does not have to besent to the host computer, since the host computer is ignoring thatparticular data. Thus, since the y-axis data is both not being used tocompute a force and is not needed by host 12, the microprocessor 26determines in step 414 not to read the y-axis sensors.

Step 416 determines whether velocity and/or acceleration are alwayscomputed. The result of this step depends on the particular embodimentthat is implemented. In some embodiments, it may be simpler and requireless processing time if velocity and/or acceleration data are alwayscomputed, regardless of whether the velocity/acceleration data is neededto compute forces or to be sent to host 12. In other embodiments, thevelocity/acceleration data can be computed only if such data isnecessary to compute force values or if the host 12 requires thesevalues. In yet other embodiments, the mode (“always compute” or “computeonly when necessary”) can be set depending on the particular applicationor other determining factor.

In an embodiment that always computes velocity and acceleration, step418 is implemented, in which the velocity and/or acceleration values arecomputed using sensor readings and timing data. For example, a historyof recorded position values and associated time intervals can be used tocalculate velocity. The process then continues to step 422. If such anembodiment is not being used, then step 420 computes the velocity and/oracceleration values only if appropriate. The process 386 can examine theforce parameters and reporting parameters, similarly as in step 414, todetermine if velocity and/or acceleration values should be computed.

After step 418 or 420, step 422 is performed, in which the process 386stores in memory 27 the sensor data and timing data read from sensors28, clock 29, and computed in step 418 or 420. The sensor data andtiming data may also include data pertaining to other input devices 39,e.g., if a button has been pressed (sensor data) and how long a buttonon the interface device 14 has been pressed (timing data) so that abutton repeat or button hold (“autofire”) feature may be activated atthe proper time. As noted above, process 386 is preferably sharing themicroprocessor's 26 processing time since multiple processes are runningin parallel (multi-tasking). In this case, the process 386 may need towait at step 424 until the microprocessor 26 is available or topurposely allow another waiting process to use microprocessor 26. Inaddition, the waiting step may be necessary to write output data tomemory 27 at a consistent or slower time to allow force computationprocess 388 greater flexibility in reading the output data from thememory.

FIG. 21 is a flow diagram illustrating reporting process 387 of FIG. 18to report data to the host computer, beginning at a step 430. Step 432determines whether reporting is done in query or stream mode asspecified by the reporting parameters set by command process 384. Inthis discussion, query mode uses an asynchronous reporting method basedon requests for information from the host computer, and stream mode usesa synchronous reporting method based on predetermined time intervals.

In query reporting mode, step 434 determines whether a request for areport has been received from host computer 12. The request can bereceived directly by reporting process 387, or, alternatively, therequest can be relayed to reporting process 387 through command process384. When the request is received, step 436 reports (i.e., sends out)sensor data and timing data stored in step 422 in FIG. 20 and errorinformation and force values from process 388 to the host. Theparticular data sent out depends on the reporting parameters specifiedby the configuration commands and the request received from the host.For example, in some embodiments, the host 12 may be able to requestparticular information. The process then returns to step 432 todetermine if query or stream mode is being used. Thus, in the describedembodiment, modes can be switched at any time during data transmission.In alternate embodiments, one particular reporting mode may be the onlyoption available. Alternatively, both modes may be available, but onceone mode is selected at the beginning of the operation of interfacedevice 14, that mode may not be switched.

In stream reporting mode, step 438 determines whether the reporting timeperiod has expired. Preferably, a standard reporting time period is setwhen the interface device and host computer 12 are first set up. Whenthe time period has expired, step 440 reports data stored in step 422 inFIG. 20 in accordance with the reporting parameters. If time has notexpired, the process returns to step 432 to again determine thereporting mode.

FIG. 22 is a flow diagram illustrating force algorithm computation andactuator control process 388 of FIG. 18 beginning at a step 450.Preferably, all forces in each degree of freedom are initialized to zerobefore step 450 at power up or upon receipt of a clear command from thehost computer 12. Thereafter, process 388 would begin at 450 and proceedwith step 452. In step 452, an axis or degree of freedom for which aforce is to be applied is selected. Herein, “axis” is synonymous with adegree of freedom provided by the interface device 14. If two axesrequire forces to be applied, an axis that has not had a force appliedin the current iteration is preferably selected in step 452. Forexample, if forces are required about the x and y axes, and if the forceon the x axis was just computed and applied in the previous iteration ofthe loop, then the y-axis is preferably selected. In addition, a totalforce in the selected axis is initialized to zero in step 452.

Step 456 computes a force in the selected axis according to the nextreflex process selected in accordance with the force parameters. Thisstep preferably includes selecting an appropriate reflex process,retrieving the necessary sensor data, timing data, and other data, andcomputing a force value using the selected reflex process and retrieveddata. The reflex process is selected by examining the force parameters.The current values of the force parameters reflect the host commandsthat are currently in effect. Since multiple host commands (reflexprocesses) may simultaneously be in effect, the force parameters areexamined by process 388 to determine one of the reflex processes toexecute to compute a force. Thus, process 388 can examine the forceparameters to determine which commands were sent by host computer, anddetermine which reflex process to execute in accordance with thosecommands. As described above with reference to FIG. 5, the reflexprocess can include process steps, equations, force profiles, or othercombinations of instructions to compute a force from sensor data, timingdata, command parameters, other input data from input devices 39, and/orother related information. The command parameters are reflected in theforce parameter values. Process 388 thus retrieves the necessary sensordata, timing data, force parameters and/or other data required by theselected reflex process to compute a force value.

In step 458, process 388 adds the force value computed in step 456 tothe total force for the axis initialized in step 452. In alternateembodiments, process 388 may limit the total force value or a portion ofthe total force value computed in step 458. For example, if process 388is keeping track of which force values are condition forces and whichforce values are overlay forces, the process 388 can limit the sum totalof condition forces to a predetermined percentage of maximum actuatorforce output, such as 70% of maximum output. This allows some of theavailable force range to be used for overlay forces, such as buttonjolts, vibrations, etc. that may applied on top of the condition forces.This limiting is preferably performed after all condition forces thatare in effect have been computed, so that overlay forces can be appliedover the sum of all condition forces. Other forces can be limited inalternate embodiments.

In next step 460, process 388 determines if another reflex process needsto be executed for the currently selected axis. This would be true ifadditional host commands are in effect for which forces have not yetbeen computed and added to the total force. If so, the process returnsto step 456 to check the force parameters, execute another reflexprocess to compute a force, and add that force to the total force. If,in step 460, there are no more reflex processes to be executed for theselected axis, then total force represents all forces in effect on theselected axis. Total force for the selected axis is then stored inmemory 27 in step 462.

In step 464, process 388 determines whether another axis (degree offreedom) needs to have a total force value computed. If so, steps 452,456, 458, 460, and 462 are repeated for other axes until the totalforces for the other axes are computed and stored.

If step 464 determines that there are no more axes (degrees of freedom)for which forces need to be computed, step 466 may limit the total forceon each axis. Since the total force on an axis computed above may exceedhardware specifications of the interface device, such as actuator forceoutput, step 466 sets the total force to lie within the hardware'sdesign range. Step 466 also may modify the total force computed abovewhen it may be unsafe to the user as indicated by an error flag. Forinstance, in the preferred embodiment, an error flag may be set if asafety condition is violated, as described in steps 468-472 below. Thiscauses the output force to be zero. In the preferred embodiment, theprocess 388 applies a smoothly increasing force to user object 34 aftersuch a safety condition, since an abrupt jump in force output at thelevel before the safety condition might be dangerous for the user. Instep 466, the process 388 can check how long ago the error flag was setby examining error timing information, and can limit the total force inaccordance with a smooth ramp function of increasing force.

Next step 468 applies safety conditions to the total force on each axisresulting from step 466. Safety conditions may be violated when, forexample, safety switch 41 as shown in FIG. 1 is activated, or when aspecific command is sent by the host computer 12. When the safetyconditions are violated, forces on the actuators 30 are sent to zero instep 470. The error flag is then set in step 472 indicating theviolation and timing information is written as to when the erroroccurred. Process 388 then waits in step 474 until the microprocessor 26is once again ready to proceed, similar to step 424 of FIG. 20.

As an additional safety feature, process 388 preferably examines memory27 to determine if the host's “heartbeat” signal has been receivedwithin the required time interval. If process 388 determines that thelast signal was received outside of the allowed interval, then process388 assumes that the host has been disconnected or has had an error. Allpower to actuators 30 is thus turned off as a safety measure until anappropriate initializing command is received from the host.

If the safety conditions are not violated in step 468, the total forcefor each axis is signaled to the appropriate actuators 30 to applycorresponding forces on those axes of the user object 34. In addition,process 388 can send any error information and any force values thathave been output to reporting process 387, which determines whether tosend the data to the host as described above (error information is sentto process 387 regardless of safety conditions). Preferably, process 388writes this information to memory where reporting processor 387 mayretrieve it. Subsequently, process 388 waits at step 474 until themicroprocessor 26 is ready. After step 474, the process returns to step452 to select another axis in a new iteration of force computation andapplication.

An illustrative application of the implementation 380 is now describedwith reference to FIG. 23. In this example, a sluggish force will beapplied to the user object 34 by the host computer 12 sending a SLUGGISHhost command. A restoring spring force using a SPRING host command willthen be commanded. Both the sluggish and restoring spring force modelswere discussed above under rate control paradigms and are listed in FIG.9.

The force parameters 480 and 482 in FIG. 23 represent locations inmemory 27 used to store the force parameters for the SLUGGISH and SPRINGcommands. Preferably, a set of locations is similarly allocated to storeforce parameters for each command implemented by the microprocessor 26.The force parameters resulting from each host command 484 sent by thehost computer 12 is shown. The locations of the sluggish forceparameters are labeled by damping coefficients (B) for velocitycomponents in positive and negative X and Y directions. Similarly, thespring table locations are labeled by spring coefficients (K) in thepositive and negative X and Y axes and deadband sizes in the X and Yaxes.

Three host commands 484 are illustrated sequentially in FIG. 23:

SLUGGISH(50, X bi)

SLUGGISH(90. X(+) uni)

SPRING(65, X bi, 85)

The two SLUGGISH command parameters 308 are the damping coefficient andstyle. The coefficient is a percentage of a maximum damping coefficient:50% and 90%. The style command parameter in the first SLUGGISH commandindicates a bi-directional force on the X axis. The style parameter inthe second SLUGGISH command indicates a uni-directional force on the Xaxis in the positive direction on that axis.

The three SPRING force feedback parameters are spring coefficient,style, and deadband. The spring coefficient parameter indicates 65% of amaximum spring coefficient. The style parameter indicates that the forceis bi-directional in the X axis. The deadband is 85% of a maximumdeadband size.

A duration command parameter can also be included for each of the hostcommands 484, as shown in FIG. 9, to provide the length of time that thecommand will be in effect. In the present example, however, the commandsare assumed to be of infinite duration, and thus no duration commandparameter is shown. The commands can be cancelled, for example, by aclear command from the host. Alternatively, as shown, the commands canbe cancelled or changed by another command of the same type.

After the requested interface device information is sent to the host 12in step 392 in FIG. 19, the host communication and background process382 receives configuration commands in either step 394 or step 398.These configuration commands cause appropriate reporting parameters tobe set. These reporting parameters can be implemented, for example, asflags corresponding to each allowed degree of freedom, other inputdevice 39, position/velocity, query/stream mode, etc. to indicatewhether to report data from those devices to the host (and to selectmodes, when appropriate). For maximum efficiency, the reportingparameters would only have flags set for the X axis, since Y-axis datais not necessary. However, the Y-axis sensor data might be needed byhost computer for other reasons, and thus still might have flags set andthus be reported to the host.

Thereafter, the force parameters 480 and 482 are set in step 402 of FIG.19 based on the SLUGGISH and SPRING host commands and the commandparameters they include, as shown in FIG. 23. The command SLUGGISH(50, Xbi) causes step 402 to write “50” in the force parameter locations 486corresponding to x-axis coefficients B_(X)(+) and B_(X)(−). All theremaining locations of all the other force parameters are zero, since itis assumed that the first sluggish command is the first command receivedby interface device 14 after power up.

The other processes 386 and 388 examine the force parameters 480 and 482(as well as other force parameters for other reflex processes) and areimplemented as shown in FIGS. 20 ad 22. Thus, when state update process386 determines which sensors to be read in step 414 of FIG. 20, itexamines the force parameters 480 and 482 to determine which commandsare in effect. Since all of the restoring force parameters 482 for therestoring spring force are zero, a restoring spring command is not ineffect (processes 386 and 388 only actually need to look at a subset ofthe force parameters to determine if the command is in effect). However,force parameters 480 include two values (“50”), and thus is in effect.Thus, only the x-axis sensors need to be read (assuming the host doesnot need y-axis information, as indicated by the reporting parameters).In step 420 (if implemented), process 386 would calculate velocity fromthe sensor readings (and/or a history of sensor readings) and timingdata, since the sluggish command requires a velocity value to compute aforce (accelerations are irrelevant in the present example).

Process 388 would check force parameters 480 and 482 in step 456 of FIG.22. The X axis is the only relevant axis to select in step 452. Sinceforce parameters 482 are all zero, process 388 knows not to execute arestoring spring reflex process. Since force parameters 480 do includenon-zero values, a sluggish reflex process should be executed. In oneexample, the reflex process would include the equation F=BV, where B isthe coefficient stored at locations 486 a and 486 b, and V is thevelocity calculated by state update process 386. F is the total forcethat would be output by actuators 30 about the axis. Preferably, all theavailable host commands have force parameters that processes 386 and 388would similarly check to determine which commands are in effect.

Referring back to FIG. 23, the second command SLUGGISH (90, X+ UNI) issent by host computer 12 after the first sluggish command. Since thesecond SLUGGISH command is uni-directional in the positive x-axis, onlythe first location 486 a for the B_(X)(+) force parameter has the newcoefficient “90” written over the previous value. The restoring springforce parameters are unchanged by the SLUGGISH commands. One way tocancel the first SLUGGISH command would be to send a second SLUGGISHcommand having all command parameters equal zero.

The status update process 386 would operate similarly for the secondSLUGGISH command as for the first SLUGGISH command. The force algorithmcomputation and actuator control process 388 would operate similarly aswell, except that the sluggish reflex process selected in step 456 ofFIG. 22 would compute a different sluggish force for velocities in thepositive x direction (based on a coefficient of 90) than in the negativex direction (based on a coefficient of 50). The process 388 would usethe sensor information from status update process 386 to determine whichdirection the user was moving the user object and use the appropriatecoefficient.

Referring back to FIG. 23, the third command sent by host 12 is theSPRING command SPRING (65, X BI, 85). Step 402 of FIG. 19 thus changesthe restoring spring force parameters 482 by writing 65 for K_(X)(+) andK_(X)(−) and 85 for DB_(X). The SLUGGISH force parameters are unaffectedby the SPRING command and thus remain in effect with the previousvalues. Process 388 would execute the sluggish reflex process andcompute a force, then execute the restoring spring reflex process andcompute a force. The restoring spring reflex process could be, forexample, implemented by the equation F=kx, where k is the springconstant and x is the position of the user object with respect to theorigin position. The two forces from sluggish and spring reflexprocesses would be added together at step 458. Therefore, the sluggishand restoring spring force models are superimposed on the user object 34after the SPRING command in FIG. 23. This would create a viscous feel onthe user object 34 and simultaneously apply force toward the originposition of the user object.

More generally, for other command sequences not shown in FIG. 23, anynumber of force models may be superimposed. For example, two forcescould be superposed if the first SLUGGISH command were immediatelyfollowed by the SPRING command.

Alternatively, the three commands shown in FIG. 23 can be received bymicroprocessor 26 and all the force parameters shown after the SPRINGcommand can be stored as a parameter page in memory to form a “forceenvironment.” When this force environment was desired to be applied touser object 34, the page of force parameters and reporting parameterswould be retrieved and processed by processes 386 and 388. This can beuseful when many different commands are desired to be appliedsimultaneously: The microprocessor would not apply each host command asit was received, but would load all the desired force parameters for aforce environment at once from memory.

While this invention has been described in terms of several preferredembodiments, it is contemplated that alterations, modifications andpermutations thereof will become apparent to those skilled in the artupon a reading of the specification and study of the drawings. Forexample, many possible types of actuators and sensors can be used in thepresent invention. Also, many types of mechanisms can be included toprovide one or more degrees of freedom to object 34. In addition,different types of interfaces can be used to connect the host computerto the local microprocessor. A wide variety and types of forces can betransmitted to a user object by the present invention. Many differenttypes of force models can be implemented in many distinct processesrunning on the microprocessor, only some of which are described herein.In addition, the application of reflex processes on a localmicroprocessor can be implemented in a variety of ways. Furthermore,certain terminology has been used for the purposes of descriptiveclarity, and not to limit the present invention. It is thereforeintended that the following appended claims include all suchalterations, modifications and permutations as fall within the truespirit and scope of the present invention.

What is claimed is:
 1. A tactile feedback computer peripheral device incommunication with a host computer running a graphical environment, theperipheral device comprising: a user manipulatable object on saidtactile feedback computer peripheral device, said user manipulatableobject moveable by said user in at least one degree of freedom; at leastone sensor within said tactile feedback computer peripheral device, saidsensor detecting the position or motion of said user maniputable object;at least one button on said tactile feedback computer peripheral device,said button depressible by a user; at least one actuator within saidtactile feedback computer peripheral device, said actuator operative tooutput forces based on a control signal; and a controller local to saidtactile peripheral device, said controller enabled to repeatedly readsignals from said at least one sensor, repeatedly read signals from saidat least one button, repeatedly report data representing the state ofsaid sensor and said button over a communication channel to a hostcomputer, receive over said communication channel a plurality ofdifferent host commands sent from said host computer, at least one ofsaid host commands being a force command sent by said host computer inresponse to a collision between at least two objects in said graphicalenvironment, and control at least one actuator in response to said forcecommand so as to create one or more forces felt by the user of saidtactile feedback computer peripheral, wherein said force commanddescribes a tactile sensation to be associated with said collision andcaused by said one or more forces, wherein said host command includes acommand identifier for identifying said tactile sensation and at leastone command parameter that characterizes said tactile sensation, whereinsaid at least one command parameter includes a deadband parameter thatspecifies a predetermined deadband region of one of said degrees offreedom in which a force output magnitude is to be approximately zero,and wherein said predetermined deadband region is centered at an originposition of said user manipulatable object in said degree of freedom. 2.A tactile feedback computer peripheral device as recited in claim 1wherein said tactile sensation described by said host command is arestoring spring force having said deadband region.
 3. A tactilefeedback computer peripheral device as recited in claim 2 wherein saidrestoring spring force controls a rate control function of host softwarerun by a host computer in communication with said tactile feedbackcomputer peripheral device.
 4. A tactile feedback computer peripheraldevice as recited in claim 1 wherein said tactile sensation described bysaid host command is a groove sensation having said deadband region. 5.A tactile feedback computer peripheral device in communication with ahost computer running a graphical environment, the peripheral devicecomprising: a user manipulatable object on said tactile feedbackcomputer peripheral device, said user manipulatable object moveable bysaid user in at least one degree of freedom; at least one sensor withinsaid tactile feedback computer peripheral device, said sensor operativeto detect the position or motion of said user maniputable object; atleast one actuator within said tactile feedback computer peripheraldevice, said actuator operative to output forces on said usermanipulatable object based on a control signal; and a controller localto said tactile peripheral device, said controller enabled to repeatedlyread signals from said at least one sensor, repeatedly report datarepresenting the state of said sensor over a communication channel to ahost computer, receive over said communication channel a plurality ofdifferent host commands sent from said host computer, at least one ofsaid host commands being a force command sent by said host computer inresponse to a collision between at least two objects in said graphicalenvironment, one of said objects being influenced by said datarepresenting the state of said sensor, and provide said control signalto said at least one actuator in response to said force command so as tocreate one or more forces felt by the user of said tactile feedbackcomputer peripheral, wherein said force command describes a tactilesensation to be associated with and correlated with said collision andcaused by said one or more forces, wherein said host command includes acommand identifier for identifying said tactile sensation and at leastone command parameter that characterizes said tactile sensation, andwherein said force command also includes a deadband parameter indicatinga size of a deadband region around an origin position of said usermanipulatable object, wherein no forces are output when said usermanipulatable object is in said deadband region.
 6. A tactile feedbackcomputer peripheral device as recited in claim 5 wherein said at leastone command parameter includes a saturation parameter that specifies amaximum force output for said tactile sensation for one of said degreesof freedom.
 7. A tactile feedback computer peripheral device as recitedin claim 6 wherein said saturation parameter specifies said maximumforce output for a displacement of said user manipulatable object, saidtactile sensation being a spring force sensation.
 8. A tactile feedbackcomputer peripheral device as recited in claim 6 wherein said saturationparameter is expressed as a percentage of the maximum force output ofsaid at least one actuator.
 9. A tactile feedback computer peripheraldevice as recited in claim 6 wherein said tactile sensation is acondition force sensation.
 10. A tactile feedback computer peripheraldevice as recited in claim 6 wherein said tactile sensation is a barriertactile sensation that provides a resistive force applied to said usermanipulatable object that increases linearly with motion of said usermanipulatable object into a barrier region.
 11. A tactile feedbackcomputer peripheral device as recited in claim 10 wherein said hostcommand also includes a hardness parameter that indicates a magnitude ofresistance force applied to said user manipulatable object when saiduser manipulatable object is within said barrier region.
 12. A tactilefeedback computer peripheral device as recited in claim 10 wherein saidhost command also includes a location parameter that indicates alocation of said barrier region in said degree of freedom of said usermanipulatable object.
 13. A tactile feedback computer peripheral deviceas recited in claim 10 wherein an assistive force is applied to saiduser manipulatable object immediately after said user manipulatableobject moves through said barrier region.
 14. A tactile feedbackcomputer peripheral device in communication with a host computer runninga graphical environment, the peripheral device comprising: a usermanipulatable object on said tactile feedback computer peripheraldevice, said user manipulatable object moveable by said user in at leastone degree of freedom; at least one sensor within said tactile feedbackcomputer peripheral device, said sensor detecting the position or motionof said user maniputable object; at least one actuator within saidtactile feedback computer peripheral device, said actuator operative tooutput forces based on a control signal; and a controller local to saidtactile peripheral device, said controller enabled to read signals fromsaid at least one sensor and report data representing the state of saidsensor over a communication channel to a host computer, receive oversaid communication channel a plurality of different host commands sentfrom said host computer, at least one of said host commands being aforce command sent by said host computer in response to an event orinteraction in said graphical environment, and control at least oneactuator in response to said force command so as to create one or moreforces felt by the user of said tactile feedback computer peripheral,wherein said force command describes a tactile sensation to beassociated with said event or interaction and caused by said one or moreforces, wherein said host command includes a command identifier foridentifying said tactile sensation and at least one command parameterthat characterizes said tactile sensation, wherein said at least onecommand parameter includes a deadband parameter that specifies a size ofa deadband region of one of said degrees of freedom, wherein forceoutput magnitude is to be approximately zero while said usermanipulatable object is in said deadband region, said deadband regionbeing centered approximately around an origin position of said usermanipulatable object.
 15. A tactile feedback computer peripheral deviceas recited in claim 14 wherein said tactile sensation described by saidhost command is a groove sensation having said deadband region as acenter region of said groove sensation.
 16. A tactile feedback computerperipheral device as recited in claim 15 wherein a restoring forcebiases said user manipulatable object on either side of said centerregion, said bias being toward said center region.
 17. A tactilefeedback computer peripheral device as recited in claim 16 wherein saidrestoring force is applied only within a region determined by apredetermined snap-out distance from said center region.
 18. A tactilefeedback computer peripheral device as recited in claim 15 wherein acenter of said center region is approximately aligned with a graphicalobject displayed in a graphical environment by a host computer incommunication with said tactile feedback interface device.
 19. A tactilefeedback computer peripheral device as recited in claim 15 wherein saidgroove sensation is provided in a position control paradigm with hostsoftware run by said host computer.